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Raw output: neo_controller.c

+0001: # _____   __           
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 0002: # ___  | / /__________ 
 0003: # __   |/ /_  _ \  __ \
 0004: # _  /|  / /  __/ /_/ /
 0005: # /_/ |_/  \___/\____/ 
 0006: 
 0007: # Kessler Controller
 0008: # Jie Fan (jie.f@pm.me)
 0009: 
 0010: # This controller file needs to be compiled with Cython, into a C extension module to be imported into a Python script
 0011: 
 0012: # TODO: Show stats at the end
 0013: # DONE: Verify that frontrun protection's working (shot stealing protection), because it still feels like it's not totally working!
 0014: # DONE: Make it so during a respawn maneuver, if I'm no longer gonna hit anything, I can begin to shoot!
 0015: # TODO: Use the tolerance in the shot for the target selection so I don't just aim for the center all the time
 0016: # KINDA DONE: Add error handling as a catch-all
 0017: # TODO: Analyze each base state, and store analysis results. Like the heuristic FIS, except use more random search. Density affects the movement speed and cruise timesteps. Tune stuff much better.
 0018: # TODO: Add error checks, so that if Neo thinks its done but there's still asteroids left, it'll realize that and re-ingest the updated state and finish off its job. This should NEVER happen though, but in the 1/1000000 chance a new bug happens during the competition, this would catch it.
 0019: # DONE: Tune gc to maybe speed stuff up
 0020: # DONE: Match collision checks with Kessler, including <= vs <
 0021: # DONE: Add iteration boosting algorithm to do more iterations in critical moments
 0022: # DONE: If we're chilling, have mines and lives, go and do some damage!
 0023: # WON'T FIX: Optimally, the target selection will consider mines blowing up asteroids, and having forecasted asteroids there. But this is a super specific condition and it's very complex to implement correctly, so maybe let's just skip this lol. It's probably not worth spending 50 hours implementing something that will rarely come up, and there's plenty of other asteroids I can shoot, and not just ones coming off of a mine blast.
 0024: # WON'T FIX: Remove unnecessary class attributes such as ship thrust range, asteroid mass, to speed up class creation and copying
 0025: # DONE: Differentiate between my mine and adversary's mine, to know whether to shoot size 1's or not
 0026: # TODO: Mine FIS currently doesn't take into account if an asteroid will ALREADY get hit by a mine, and drop another one anyway
 0027: # DONE: When validating a sim is good when there's another ship, make sure the shots hit! The other ship might have shot those asteroids already.
 0028: # DONE: Try a wider random search for maneuvers
 0029: # KINDA DONE: GA to beat the random maneuver search, and narrow down the search space. In crowded areas, don't cruise for as long, for example!
 0030: # TRIED, not faster: Add per-timestep velocities to asteroids and bullets and stuff to save a multiplication
 0031: # TODO: Revisit the aimbot and improve things more
 0032: # NO NEED TO FIX because Kessler changed it so that it'll wait out the bullet, as long as there's still time remaining: If we're gonna die and we're the only ship left, don't shoot a bullet if it doesn't land before I die, because it'll count as a miss
 0033: # EHH WON'T MAKE THIS CHANGE BECAUSE IT'S KINDA BAD AND COMPLEX: Use math to see how the bullet lines up with the asteroid, to predict whether it's gonna hit before doing the bullet sim
 0034: # DONE: get_next_extrapolated_asteroid_collision_time doesn't handle the edges properly! Collisions can't go through the edge but this can predict that. Do the checks!
 0035: # DONE: Improve targeting during maneuvers to maintain random maneuvers. Each sim should target differently, not just always aim at the closest asteroid! But we need to maintain cohesion in the targets from one iteration to the next, so Neo doesn't switch targets randomly within the sim.
 0036: # PROBABLY NOT WORTH ADDING: Add corner camping hardcoded logic
 0037: # PROBABLY NOT WORTH ADDING: Add closing ring freezing
 0038: 
 0039: 
 0040: # POST-XFC 2024 IMPROVEMENT IDEAS:
 0041: # DONE (I THINK): Make it so that if the other ship steals my shots, I realize sooner and avoid shooting.
 0042: # Currently Neo takes up to 2 planning periods to realize, but if I do a second pass check of the planned actions and make sure all shots land,
 0043: # then I can reduce this down to up to 1 planning period of delay. Neo can be only 96% accurate with a good adversary, so hopefully this can be bumped to like 98%.
 0044: # This is VERY important in scenarios with a bullet limit since a missed shot is a missed point
 0045: 
 0046: # DONE: Inspired by OMUlettes taking out the Fuzzifiers by crashing into them, I want to implement the following hard-coded logic:
 0047: # if the other ship is on its last life and I have at least 2 lives:
 0048: #     SLAM INTO THE OTHER SHIP AND TAKE THEIR LAST LIFE
 0049: 
 0050: # TODO: Improve avoiding shooting size-1 asteroids within the blast radius of my own mine.
 0051: # Currently it avoids targeting these, but it could still accidentally hit such asteroids in the way of their intended target
 0052: 
 0053: # DONE: Improve handling low bullet limits. Currently Neo just kinda chills and doesn't use its remaining mines effectively.
 0054: # Improving its behavior here can help get a bit more score. Even sacrificing lives to get a couple more hits could be a good strat.
 0055: 
 0056: # TODO: Ration mines better. Some scenarios Neo uses them too sparingly, and sometimes it dumps them all at the start, and doesn't have any left to use.
 0057: # The former is a larger issue. If there's only 3 seconds left, Neo can dump a mine and it could get a few more hits at basically zero cost
 0058: # The rationing issue might be solvable by scaling up and down what is considered a good number of asteroids within a blast radius. Currently these are hardcoded.
 0059: 
 0060: # DONE: Print out a build date at the start of each run, so during the competition I can make sure the correct version of my controller is run.
 0061: 
 0062: # WON'T FIX: Remove my training wheels artificial limitation of placing mines 3 seconds apart.
 0063: # I can place them as low as 1 second apart, so removing this might add more strategic options.
 0064: # But this will also give Neo more opportunities to bomb itself, so this is hard to implement well.
 0065: 
 0066: # TODO: Consider the time limit better, and adapt my strategy based on that. Currently it's not considered (other than avoiding shooting a bullet that won't land before the time's up).
 0067: # For example, if there's a very long time limit and I have unlimited bullets, then I probably want to focus on killing the other ship first.
 0068: # Otherwise if there's a short time limit, I shouldn't waste time killing the other ship because even if I do,
 0069: # I don't have time to hit all the asteroids myself, and it's better to just shoot asteroids and trust that I'm gaining score quicker than the other team is able to gain score,
 0070: # or at least I'm no worse than the other team
 0071: 
 0072: # DONE: Investigate why Neo just stayed on top of the mine near the end of the scenario for the closing double rings scenario
 0073: 
 0074: # DONE: Don't place a mine if it can't explode before the time runs out
 0075: 
 0076: # DONE: Dump mines if it can hit stuff right before the end of the scenario
 0077: 
 0078: # DONE: Check for time running out condition to handle stuff like that better
 0079: 
 0080: # cython: language_level=3
 0081: from libc.math cimport sin, cos, sqrt, fabs, atan2, acos, asin, pi, NAN, INFINITY, isnan, isinf, copysign, exp
+0082: from math import ceil, floor
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 0083: from libc.stdint cimport int64_t
 0084: ctypedef double float64_t
+0085: import math
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 0086: cimport cython
 0087: 
 0088: 
 0089: 
 0090: 
+0091: import bisect
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+0092: import gc
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 0100: #from math import acos, asin, atan2, ceil, cos, exp, floor, inf, isinf, isnan, nan, pi, sin, sqrt, copysign
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 0106: #from mypy_extensions import i64
+0107: from skfuzzy import control, trimf  # type: ignore[import-untyped]
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 0108: 
 0109: #from src.kesslergame import KesslerController  # type: ignore[import-untyped]
 0110: #from kesslergame import KesslerController  # type: ignore[import-untyped]
 0111: 
 0112: # IMPORTANT: if multiple scenarios are run back-to-back, this controller doesn't get freshly initialized in the subsequent runs.
 0113: # If any global variables are changed during execution, make sure to reset them when the timestep is 0.
 0114: 
 0115: #BUILD_NUMBER: Final = "2024-06-17 Neo - Jie Fan (jie.f@pm.me)"
 0116: 
 0117: # Output config
+0118: DEBUG_MODE: Final[bool] = False
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+0119: PRINT_EXPLANATIONS: Final[bool] = False
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+0120: EXPLANATION_MESSAGE_SILENCE_INTERVAL_S: Final[float] = 2.0  # Repeated messages within this time window get silenced
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 0121: 
 0122: # These can trade off to get better performance at the expense of safety
 0123: # TRUE FOR COMPETITION, inexpensive
+0124: STATE_CONSISTENCY_CHECK_AND_RECOVERY = True  # Enable this if we want to be able to recover from controller exceptions
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 0125: # TRUE FOR COMPETITION, inexpensive
+0126: CLEAN_UP_STATE_FOR_SUBSEQUENT_SCENARIO_RUNS = True  # If NeoController is only instantiated once and run through multiple scenarios, this must be on!
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 0127: # FALSE FOR COMPETITION, slight performance hit
+0128: ENABLE_SANITY_CHECKS: Final[bool] = False  # Miscellaneous sanity checks throughout the code
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 0129: # TRUE FOR COMPETITION, performance boost
+0130: PRUNE_SIM_STATE_SEQUENCE: Final[bool] = True  # Good to have on, because we don't really need the full state
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 0131: # FALSE FOR COMPETITION, slight performance hit
+0132: VALIDATE_SIMULATED_KEY_STATES: Final[bool] = False  # Check for desyncs between Kessler and Neo's internal simulation of the game
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 0133: # FALSE FOR COMPETITION, major performance hit
+0134: VALIDATE_ALL_SIMULATED_STATES: Final[bool] = False  # Super meticulous check for desyncs. This is very slow! Not recommended, since just verifying the key states will catch desyncs eventually. This is only good for if you need to know exactly when the desync occurred.
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 0135: # FALSE FOR COMPETITION, major performance hit
+0136: VERIFY_AST_TRACKING: Final[bool] = False  # I'm using a very error prone way to track asteroids, where I very easily get the time of the asteroid wrong. This will check to make sure the times aren't mismatched, by checking whether the asteroid we're looking for appears in the wrong timestep.
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 0137: 
+0138: RESEED_RNG: Final[bool] = True # If the random seed was set outside of Neo, this will reseed the RNG to ensure good randomness
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 0139: 
 0140: # Strategic variables
+0141: END_OF_SCENARIO_DONT_CARE_TIMESTEPS: Final[int] = 8
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+0142: ADVERSARY_ROTATION_TIMESTEP_FUDGE: Final[int] = 20  # Since we can't predict the adversary ship, in the targetting frontrun protection, fudge the adversary's ship to be more conservative. Since we predict they don't move, but they could be aiming toward the target.
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 0143: # TODO: Actually wait, doesn't the rotation timestep fudge just need to be 5, because each stationary targetting is just 5 timesteps long? So using 20 may be overkill!
+0144: UNWRAP_ASTEROID_COLLISION_FORECAST_TIME_HORIZON: Final[float] = 8.0
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+0145: UNWRAP_ASTEROID_TARGET_SELECTION_TIME_HORIZON: Final[float] = 2.3 # The upper bound would be sqrt(1000.0**2 + 800.0**2)/800.0 + 1.0 = 2.600781059358212 s, which is 1 second to turn and the rest for bullet travel time. But this is the worst case scenario. In most cases, we don't need this much.
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+0146: ASTEROID_SIZE_SHOT_PRIORITY: Final = (NAN, 1, 2, 3, 4)  # Index i holds the priority of shooting an asteroid of size i (the first element is not important)
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+0147: fitness_function_weights: Optional[tuple[float, float, float, float, float, float, float, float, float]] = None
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+0148: MINE_DROP_COOLDOWN_FUDGE_TS: Final[int] = 61  # We can drop a mine every 30 timesteps. But it's better to wait a bit longer between mines, so then if I drop two and the first one blows me up, I have time to get out of the radius of the second blast!
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+0149: MINE_ASTEROID_COUNT_FUDGE_DISTANCE: Final[float] = 50.0
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+0150: MINE_OPPORTUNITY_CHECK_INTERVAL_TS: Final[int] = 10
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+0151: MINE_OTHER_SHIP_RADIUS_FUDGE: Final[float] = 40.0
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+0153: TARGETING_AIMING_UNDERTURN_ALLOWANCE_DEG: Final[float] = 6.0
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 0154: # (asteroid_safe_time_fitness, mine_safe_time_fitness, asteroids_fitness, sequence_length_fitness, other_ship_proximity_fitness, crash_fitness, asteroid_aiming_cone_fitness, placed_mine_fitness, overall_safe_time_fitness)
 0155: # These fitness weights were picked after doing a ton of training with a genetic optimizer:
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 0173: # The reason we need this, is because without it, I'm checking whether I have the budget to do another iteration, but let's say I'm already taking 0 time. Kessler will pause for DELTA_TIME, taking up all the time, and I'd think I have no time to do anything!
 0174: # So this fudge allows us to "push things" a bit, and fill up any remaining time so that Kessler is no longer pausing, and that time is spent in this controller to do more computations.
 0175: # The side effect is that if we set this multiplier too low, then we're going to be operating at less than real time for sure.
 0176: # Going slightly slower than real time is expected, since we always need to push things to know where that limit is
 0177: # This isn't needed if the realtime multiplier is set to 0 within Kessler, so that Kessler is not unnecessarily pausing and running as fast as it can. But with realtime multiplier at 1, this is needed.
 0178: # If realtime multiplier is set to some wacky value above 1, the game won't speed up and Neo will just use that time to do more iterations! To fix that, we need to change this multiplier to be above 1 too
 0179: # You can kind of think of this as the percentage of real time we're going at. Kinda...
 0180: # Also my logic is that if I always make sure I have enough time, then I’ll actually be within budget. Because say I take 10 time to do something. Well if I have 10 time left, I do it, but anything from 9 to 0 time left, I don’t. So on average, I leave out 10/2 time on the table. So that’s why I set the fudge multiplier to 0.5, so things average out to me being exactly on budget.
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+0182: MINIMUM_DELTA_TIME_FRACTION_BUDGET: Final[float] = 0.55 # One frametime is 1.0. If we give the other ship half of the time, then we should set this to 0.5. If we want non-realtime performance, we can change this to be >1
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 0184: 
 0185: # For the tuples below, the index is the number of lives Neo has left while going into the move
 0186: # Index 0 in the tuples is not used, but to be safe I put a sane number there
 0187: 
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+0192:                                                          (70, 40, 13), # Fitness from 0.1 to 0.2
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+0193:                                                          (60, 28, 12), # Fitness from 0.2 to 0.3
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+0194:                                                          (50, 26, 11), # Fitness from 0.3 to 0.4
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+0195:                                                          (45, 14, 10), # Fitness from 0.4 to 0.5
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+0196:                                                          (16, 12, 9), # Fitness from 0.5 to 0.6
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+0197:                                                          (15, 11, 8), # Fitness from 0.6 to 0.7
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+0198:                                                          (14, 10, 7), # Fitness from 0.7 to 0.8
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+0199:                                                          (13, 9, 6), # Fitness from 0.8 to 0.9
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+0200:                                                          (12, 8, 5)) # Fitness from 0.9 to 1.0
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+0202:                                                        (950, 810, 430), # Fitness from 0.1 to 0.2
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+0203:                                                        (925, 780, 420), # Fitness from 0.2 to 0.3
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+0204:                                                        (900, 730, 410), # Fitness from 0.3 to 0.4
  __pyx_mstate_global->__pyx_tuple[47] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_900, __pyx_mstate_global->__pyx_int_730, __pyx_mstate_global->__pyx_int_410); if (unlikely(!__pyx_mstate_global->__pyx_tuple[47])) __PYX_ERR(0, 204, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[47]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[47]);
+0205:                                                        (850, 715, 400), # Fitness from 0.4 to 0.5
  __pyx_mstate_global->__pyx_tuple[48] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_850, __pyx_mstate_global->__pyx_int_715, __pyx_mstate_global->__pyx_int_400); if (unlikely(!__pyx_mstate_global->__pyx_tuple[48])) __PYX_ERR(0, 205, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[48]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[48]);
+0206:                                                        (815, 680, 390), # Fitness from 0.5 to 0.6
  __pyx_mstate_global->__pyx_tuple[49] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_815, __pyx_mstate_global->__pyx_int_680, __pyx_mstate_global->__pyx_int_390); if (unlikely(!__pyx_mstate_global->__pyx_tuple[49])) __PYX_ERR(0, 206, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[49]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[49]);
+0207:                                                        (790, 660, 380), # Fitness from 0.6 to 0.7
  __pyx_mstate_global->__pyx_tuple[50] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_790, __pyx_mstate_global->__pyx_int_660, __pyx_mstate_global->__pyx_int_380); if (unlikely(!__pyx_mstate_global->__pyx_tuple[50])) __PYX_ERR(0, 207, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[50]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[50]);
+0208:                                                        (760, 640, 370), # Fitness from 0.7 to 0.8
  __pyx_mstate_global->__pyx_tuple[51] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_760, __pyx_mstate_global->__pyx_int_640, __pyx_mstate_global->__pyx_int_370); if (unlikely(!__pyx_mstate_global->__pyx_tuple[51])) __PYX_ERR(0, 208, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[51]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[51]);
+0209:                                                        (730, 620, 360), # Fitness from 0.8 to 0.9
  __pyx_mstate_global->__pyx_tuple[52] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_730, __pyx_mstate_global->__pyx_int_620, __pyx_mstate_global->__pyx_int_360); if (unlikely(!__pyx_mstate_global->__pyx_tuple[52])) __PYX_ERR(0, 209, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[52]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[52]);
+0210:                                                        (700, 600, 350)) # Fitness from 0.9 to 1.0
  __pyx_mstate_global->__pyx_tuple[53] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_700, __pyx_mstate_global->__pyx_int_600, __pyx_mstate_global->__pyx_int_350); if (unlikely(!__pyx_mstate_global->__pyx_tuple[53])) __PYX_ERR(0, 210, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[53]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[53]);
+0211: MIN_MANEUVER_PER_TIMESTEP_SEARCH_ITERATIONS_LUT: Final = ((85, 65, 30), # Fitness from 0.0 to 0.1
  __pyx_mstate_global->__pyx_tuple[55] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_85, __pyx_mstate_global->__pyx_int_65, __pyx_mstate_global->__pyx_int_30); if (unlikely(!__pyx_mstate_global->__pyx_tuple[55])) __PYX_ERR(0, 211, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[55]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[55]);
/* … */
  if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MIN_MANEUVER_PER_TIMESTEP_SEARCH, __pyx_mstate_global->__pyx_tuple[65]) < 0) __PYX_ERR(0, 211, __pyx_L1_error)
/* … */
  __pyx_mstate_global->__pyx_tuple[65] = PyTuple_Pack(10, __pyx_mstate_global->__pyx_tuple[55], __pyx_mstate_global->__pyx_tuple[56], __pyx_mstate_global->__pyx_tuple[57], __pyx_mstate_global->__pyx_tuple[58], __pyx_mstate_global->__pyx_tuple[59], __pyx_mstate_global->__pyx_tuple[60], __pyx_mstate_global->__pyx_tuple[61], __pyx_mstate_global->__pyx_tuple[62], __pyx_mstate_global->__pyx_tuple[63], __pyx_mstate_global->__pyx_tuple[64]); if (unlikely(!__pyx_mstate_global->__pyx_tuple[65])) __PYX_ERR(0, 211, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[65]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[65]);
+0212:                                                           (65, 52, 25), # Fitness from 0.1 to 0.2
  __pyx_mstate_global->__pyx_tuple[56] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_65, __pyx_mstate_global->__pyx_int_52, __pyx_mstate_global->__pyx_int_25); if (unlikely(!__pyx_mstate_global->__pyx_tuple[56])) __PYX_ERR(0, 212, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[56]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[56]);
+0213:                                                           (55, 40, 20), # Fitness from 0.2 to 0.3
  __pyx_mstate_global->__pyx_tuple[57] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_55, __pyx_mstate_global->__pyx_int_40, __pyx_mstate_global->__pyx_int_20); if (unlikely(!__pyx_mstate_global->__pyx_tuple[57])) __PYX_ERR(0, 213, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[57]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[57]);
+0214:                                                           (45, 25, 15), # Fitness from 0.3 to 0.4
  __pyx_mstate_global->__pyx_tuple[58] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_45, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_15); if (unlikely(!__pyx_mstate_global->__pyx_tuple[58])) __PYX_ERR(0, 214, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[58]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[58]);
+0215:                                                           (25, 12, 9), # Fitness from 0.4 to 0.5
  __pyx_mstate_global->__pyx_tuple[59] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_12, __pyx_mstate_global->__pyx_int_9); if (unlikely(!__pyx_mstate_global->__pyx_tuple[59])) __PYX_ERR(0, 215, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[59]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[59]);
+0216:                                                           (20, 9, 6), # Fitness from 0.5 to 0.6
  __pyx_mstate_global->__pyx_tuple[60] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_20, __pyx_mstate_global->__pyx_int_9, __pyx_mstate_global->__pyx_int_6); if (unlikely(!__pyx_mstate_global->__pyx_tuple[60])) __PYX_ERR(0, 216, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[60]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[60]);
+0217:                                                           (14, 7, 5), # Fitness from 0.6 to 0.7
  __pyx_mstate_global->__pyx_tuple[61] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_14, __pyx_mstate_global->__pyx_int_7, __pyx_mstate_global->__pyx_int_5); if (unlikely(!__pyx_mstate_global->__pyx_tuple[61])) __PYX_ERR(0, 217, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[61]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[61]);
+0218:                                                           (8, 5, 4), # Fitness from 0.7 to 0.8
  __pyx_mstate_global->__pyx_tuple[62] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_8, __pyx_mstate_global->__pyx_int_5, __pyx_mstate_global->__pyx_int_4); if (unlikely(!__pyx_mstate_global->__pyx_tuple[62])) __PYX_ERR(0, 218, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[62]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[62]);
+0219:                                                           (7, 4, 3), # Fitness from 0.8 to 0.9
  __pyx_mstate_global->__pyx_tuple[63] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_7, __pyx_mstate_global->__pyx_int_4, __pyx_mstate_global->__pyx_int_3); if (unlikely(!__pyx_mstate_global->__pyx_tuple[63])) __PYX_ERR(0, 219, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[63]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[63]);
+0220:                                                           (6, 3, 2)) # Fitness from 0.9 to 1.0
  __pyx_mstate_global->__pyx_tuple[64] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_6, __pyx_mstate_global->__pyx_int_3, __pyx_mstate_global->__pyx_int_2); if (unlikely(!__pyx_mstate_global->__pyx_tuple[64])) __PYX_ERR(0, 220, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[64]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[64]);
+0221: MIN_MANEUVER_PER_PERIOD_SEARCH_ITERATIONS_LUT = ((300, 230, 105), # Fitness from 0.0 to 0.1
  __pyx_mstate_global->__pyx_tuple[66] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_300, __pyx_mstate_global->__pyx_int_230, __pyx_mstate_global->__pyx_int_105); if (unlikely(!__pyx_mstate_global->__pyx_tuple[66])) __PYX_ERR(0, 221, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[66]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[66]);
/* … */
  if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MIN_MANEUVER_PER_PERIOD_SEARCH_I, __pyx_mstate_global->__pyx_tuple[76]) < 0) __PYX_ERR(0, 221, __pyx_L1_error)
/* … */
  __pyx_mstate_global->__pyx_tuple[76] = PyTuple_Pack(10, __pyx_mstate_global->__pyx_tuple[66], __pyx_mstate_global->__pyx_tuple[67], __pyx_mstate_global->__pyx_tuple[68], __pyx_mstate_global->__pyx_tuple[69], __pyx_mstate_global->__pyx_tuple[70], __pyx_mstate_global->__pyx_tuple[71], __pyx_mstate_global->__pyx_tuple[72], __pyx_mstate_global->__pyx_tuple[73], __pyx_mstate_global->__pyx_tuple[74], __pyx_mstate_global->__pyx_tuple[75]); if (unlikely(!__pyx_mstate_global->__pyx_tuple[76])) __PYX_ERR(0, 221, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[76]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[76]);
+0222:                                                  (230, 185, 88), # Fitness from 0.1 to 0.2
  __pyx_mstate_global->__pyx_tuple[67] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_230, __pyx_mstate_global->__pyx_int_185, __pyx_mstate_global->__pyx_int_88); if (unlikely(!__pyx_mstate_global->__pyx_tuple[67])) __PYX_ERR(0, 222, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[67]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[67]);
+0223:                                                  (193, 140, 70), # Fitness from 0.2 to 0.3
  __pyx_mstate_global->__pyx_tuple[68] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_193, __pyx_mstate_global->__pyx_int_140, __pyx_mstate_global->__pyx_int_70); if (unlikely(!__pyx_mstate_global->__pyx_tuple[68])) __PYX_ERR(0, 223, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[68]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[68]);
+0224:                                                  (160, 88, 55), # Fitness from 0.3 to 0.4
  __pyx_mstate_global->__pyx_tuple[69] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_160, __pyx_mstate_global->__pyx_int_88, __pyx_mstate_global->__pyx_int_55); if (unlikely(!__pyx_mstate_global->__pyx_tuple[69])) __PYX_ERR(0, 224, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[69]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[69]);
+0225:                                                  (88, 42, 32), # Fitness from 0.4 to 0.5
  __pyx_mstate_global->__pyx_tuple[70] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_88, __pyx_mstate_global->__pyx_int_42, __pyx_mstate_global->__pyx_int_32); if (unlikely(!__pyx_mstate_global->__pyx_tuple[70])) __PYX_ERR(0, 225, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[70]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[70]);
+0226:                                                  (56, 28, 21), # Fitness from 0.5 to 0.6
  __pyx_mstate_global->__pyx_tuple[71] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_56, __pyx_mstate_global->__pyx_int_28, __pyx_mstate_global->__pyx_int_21); if (unlikely(!__pyx_mstate_global->__pyx_tuple[71])) __PYX_ERR(0, 226, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[71]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[71]);
+0227:                                                  (35, 25, 18), # Fitness from 0.6 to 0.7
  __pyx_mstate_global->__pyx_tuple[72] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_35, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_18); if (unlikely(!__pyx_mstate_global->__pyx_tuple[72])) __PYX_ERR(0, 227, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[72]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[72]);
+0228:                                                  (25, 18, 14), # Fitness from 0.7 to 0.8
  __pyx_mstate_global->__pyx_tuple[73] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_25, __pyx_mstate_global->__pyx_int_18, __pyx_mstate_global->__pyx_int_14); if (unlikely(!__pyx_mstate_global->__pyx_tuple[73])) __PYX_ERR(0, 228, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[73]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[73]);
+0229:                                                  (14, 11, 10), # Fitness from 0.8 to 0.9
  __pyx_mstate_global->__pyx_tuple[74] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_14, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_10); if (unlikely(!__pyx_mstate_global->__pyx_tuple[74])) __PYX_ERR(0, 229, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[74]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[74]);
+0230:                                                  (11, 11, 7)) # Fitness from 0.9 to 1.0
  __pyx_mstate_global->__pyx_tuple[75] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_11, __pyx_mstate_global->__pyx_int_7); if (unlikely(!__pyx_mstate_global->__pyx_tuple[75])) __PYX_ERR(0, 230, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[75]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[75]);
+0231: MIN_MANEUVER_PER_PERIOD_SEARCH_ITERATIONS_IF_WILL_DIE_LUT = ((860, 680, 340), # Fitness from 0.0 to 0.1
  __pyx_mstate_global->__pyx_tuple[77] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_860, __pyx_mstate_global->__pyx_int_680, __pyx_mstate_global->__pyx_int_340); if (unlikely(!__pyx_mstate_global->__pyx_tuple[77])) __PYX_ERR(0, 231, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[77]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[77]);
/* … */
  if (PyDict_SetItem(__pyx_mstate_global->__pyx_d, __pyx_mstate_global->__pyx_n_u_MIN_MANEUVER_PER_PERIOD_SEARCH_I_2, __pyx_mstate_global->__pyx_tuple[87]) < 0) __PYX_ERR(0, 231, __pyx_L1_error)
/* … */
  __pyx_mstate_global->__pyx_tuple[87] = PyTuple_Pack(10, __pyx_mstate_global->__pyx_tuple[77], __pyx_mstate_global->__pyx_tuple[78], __pyx_mstate_global->__pyx_tuple[79], __pyx_mstate_global->__pyx_tuple[80], __pyx_mstate_global->__pyx_tuple[81], __pyx_mstate_global->__pyx_tuple[82], __pyx_mstate_global->__pyx_tuple[83], __pyx_mstate_global->__pyx_tuple[84], __pyx_mstate_global->__pyx_tuple[85], __pyx_mstate_global->__pyx_tuple[86]); if (unlikely(!__pyx_mstate_global->__pyx_tuple[87])) __PYX_ERR(0, 231, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[87]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[87]);
+0232:                                                              (830, 660, 330), # Fitness from 0.1 to 0.2
  __pyx_mstate_global->__pyx_tuple[78] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_830, __pyx_mstate_global->__pyx_int_660, __pyx_mstate_global->__pyx_int_330); if (unlikely(!__pyx_mstate_global->__pyx_tuple[78])) __PYX_ERR(0, 232, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[78]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[78]);
+0233:                                                              (800, 640, 320), # Fitness from 0.2 to 0.3
  __pyx_mstate_global->__pyx_tuple[79] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_800, __pyx_mstate_global->__pyx_int_640, __pyx_mstate_global->__pyx_int_320); if (unlikely(!__pyx_mstate_global->__pyx_tuple[79])) __PYX_ERR(0, 233, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[79]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[79]);
+0234:                                                              (770, 620, 310), # Fitness from 0.3 to 0.4
  __pyx_mstate_global->__pyx_tuple[80] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_770, __pyx_mstate_global->__pyx_int_620, __pyx_mstate_global->__pyx_int_310); if (unlikely(!__pyx_mstate_global->__pyx_tuple[80])) __PYX_ERR(0, 234, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[80]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[80]);
+0235:                                                              (740, 600, 300), # Fitness from 0.4 to 0.5
  __pyx_mstate_global->__pyx_tuple[81] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_740, __pyx_mstate_global->__pyx_int_600, __pyx_mstate_global->__pyx_int_300); if (unlikely(!__pyx_mstate_global->__pyx_tuple[81])) __PYX_ERR(0, 235, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[81]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[81]);
+0236:                                                              (710, 580, 290), # Fitness from 0.5 to 0.6
  __pyx_mstate_global->__pyx_tuple[82] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_710, __pyx_mstate_global->__pyx_int_580, __pyx_mstate_global->__pyx_int_290); if (unlikely(!__pyx_mstate_global->__pyx_tuple[82])) __PYX_ERR(0, 236, __pyx_L1_error)
  __Pyx_GOTREF(__pyx_mstate_global->__pyx_tuple[82]);
  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[82]);
+0237:                                                              (690, 560, 280), # Fitness from 0.6 to 0.7
  __pyx_mstate_global->__pyx_tuple[83] = PyTuple_Pack(3, __pyx_mstate_global->__pyx_int_690, __pyx_mstate_global->__pyx_int_560, __pyx_mstate_global->__pyx_int_280); if (unlikely(!__pyx_mstate_global->__pyx_tuple[83])) __PYX_ERR(0, 237, __pyx_L1_error)
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  __Pyx_GIVEREF(__pyx_mstate_global->__pyx_tuple[83]);
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 0242: # State dumping for debug
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 0257: # Debug settings
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 0261: # Quantities
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 0627:                 # self.can_fire == other.can_fire and
+0628:                 self.fire_rate == other.fire_rate and
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 0629:                 # self.can_deploy_mine == other.can_deploy_mine and
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+0631:                 (self.thrust_min, self.thrust_max) == other.thrust_range and
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+0632:                 (self.turn_rate_min, self.turn_rate_max) == other.turn_rate_range and
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+0633:                 self.max_speed == other.max_speed and
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 0635: 
 0636: '''
 0637: class Ship:
 0638:     __slots__ = ('is_respawning', 'position', 'velocity', 'speed', 'heading', 'mass', 'radius', 'id', 'team', 'lives_remaining', 'bullets_remaining', 'mines_remaining', 'can_fire', 'fire_rate', 'can_deploy_mine', 'mine_deploy_rate', 'thrust_range', 'turn_rate_range', 'max_speed', 'drag')
 0639: 
 0640:     def __init__(self, is_respawning: bool = False, position: tuple[float, float] = (0.0, 0.0), velocity: tuple[float, float] = (0.0, 0.0), speed: float = 0.0, heading: float = 0.0, mass: float = 0.0, radius: float = 0.0, id: int = 0, team: str = '', lives_remaining: int = 0, bullets_remaining: int = 0, mines_remaining: int = 0, can_fire: bool = True, fire_rate: float = 0.0, can_deploy_mine: bool = True, mine_deploy_rate: float = 0.0, thrust_range: tuple[float, float] = (-SHIP_MAX_THRUST, SHIP_MAX_THRUST), turn_rate_range: tuple[float, float] = (-SHIP_MAX_TURN_RATE, SHIP_MAX_TURN_RATE), max_speed: float = SHIP_MAX_SPEED, drag: float = SHIP_DRAG) -> None:
 0641:         self.is_respawning = is_respawning
 0642:         self.position = position
 0643:         self.velocity = velocity
 0644:         self.speed = speed
 0645:         self.heading = heading
 0646:         self.mass = mass
 0647:         self.radius = radius
 0648:         self.id = id
 0649:         self.team = team
 0650:         self.lives_remaining = lives_remaining
 0651:         self.bullets_remaining = bullets_remaining
 0652:         self.mines_remaining = mines_remaining
 0653:         self.can_fire = can_fire
 0654:         self.fire_rate = fire_rate
 0655:         self.can_deploy_mine = can_deploy_mine
 0656:         self.mine_deploy_rate = mine_deploy_rate
 0657:         self.thrust_range = thrust_range
 0658:         self.turn_rate_range = turn_rate_range
 0659:         self.max_speed = max_speed
 0660:         self.drag = drag
 0661: 
 0662:     def __str__(self) -> str:
 0663:         return f'Ship(is_respawning={self.is_respawning}, position={self.position}, velocity={self.velocity}, speed={self.speed}, heading={self.heading}, mass={self.mass}, radius={self.radius}, id={self.id}, team="{self.team}", lives_remaining={self.lives_remaining}, bullets_remaining={self.bullets_remaining}, mines_remaining={self.mines_remaining}, can_fire={self.can_fire}, fire_rate={self.fire_rate}, can_deploy_mine={self.can_deploy_mine}, mine_deploy_rate={self.mine_deploy_rate}, thrust_range={self.thrust_range}, turn_rate_range={self.turn_rate_range}, max_speed={self.max_speed}, drag={self.drag})'
 0664: 
 0665:     def __repr__(self) -> str:
 0666:         return self.__str__()
 0667: 
 0668:     def copy(self) -> 'Ship':
 0669:         return Ship(
 0670:             is_respawning=self.is_respawning,
 0671:             position=self.position,
 0672:             velocity=self.velocity,
 0673:             speed=self.speed,
 0674:             heading=self.heading,
 0675:             mass=self.mass,
 0676:             radius=self.radius,
 0677:             id=self.id,
 0678:             team=self.team,
 0679:             lives_remaining=self.lives_remaining,
 0680:             bullets_remaining=self.bullets_remaining,
 0681:             mines_remaining=self.mines_remaining,
 0682:             can_fire=self.can_fire,
 0683:             fire_rate=self.fire_rate,
 0684:             can_deploy_mine=self.can_deploy_mine,
 0685:             mine_deploy_rate=self.mine_deploy_rate,
 0686:             thrust_range=self.thrust_range,
 0687:             turn_rate_range=self.turn_rate_range,
 0688:             max_speed=self.max_speed,
 0689:             drag=self.drag
 0690:         )
 0691: 
 0692:     def __eq__(self, other: object) -> bool:
 0693:         if not isinstance(other, Ship):
 0694:             return NotImplemented
 0695:         return (self.is_respawning == other.is_respawning and
 0696:                 self.position == other.position and
 0697:                 self.velocity == other.velocity and
 0698:                 self.speed == other.speed and
 0699:                 self.heading == other.heading and
 0700:                 self.mass == other.mass and
 0701:                 self.radius == other.radius and
 0702:                 self.id == other.id and
 0703:                 self.team == other.team and
 0704:                 self.lives_remaining == other.lives_remaining and
 0705:                 self.bullets_remaining == other.bullets_remaining and
 0706:                 self.mines_remaining == other.mines_remaining and
 0707:                 #self.can_fire == other.can_fire and
 0708:                 self.fire_rate == other.fire_rate and
 0709:                 #self.can_deploy_mine == other.can_deploy_mine and
 0710:                 self.mine_deploy_rate == other.mine_deploy_rate and
 0711:                 self.thrust_range == other.thrust_range and
 0712:                 self.turn_rate_range == other.turn_rate_range and
 0713:                 self.max_speed == other.max_speed and
 0714:                 self.drag == other.drag)
 0715: '''
 0716: 
+0717: cdef class Mine:
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  double mass;
  double fuse_time;
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 0875: 
 0876: '''
 0877: class Bullet:
 0878:     __slots__ = ('position', 'velocity', 'heading', 'mass', 'tail_delta')
 0879: 
 0880:     def __init__(self, position: tuple[float, float] = (0.0, 0.0), velocity: tuple[float, float] = (0.0, 0.0), heading: float = 0.0, mass: float = BULLET_MASS, tail_delta: Optional[tuple[float, float]] = None) -> None:
 0881:         self.position = position
 0882:         self.velocity = velocity
 0883:         self.heading = heading
 0884:         self.mass = mass
 0885:         if tail_delta is not None:
 0886:             self.tail_delta = tail_delta
 0887:         else:
 0888:             self.tail_delta = (-BULLET_LENGTH*cos(radians(heading)), -BULLET_LENGTH*sin(radians(heading)))
 0889: 
 0890:     def __str__(self) -> str:
 0891:         return f'Bullet(position={self.position}, velocity={self.velocity}, heading={self.heading}, mass={self.mass}, tail_delta={self.tail_delta})'
 0892: 
 0893:     def __repr__(self) -> str:
 0894:         return self.__str__()
 0895: 
 0896:     def copy(self) -> 'Bullet':
 0897:         return Bullet(
 0898:             position=self.position,
 0899:             velocity=self.velocity,
 0900:             heading=self.heading,
 0901:             mass=self.mass,
 0902:             tail_delta=self.tail_delta
 0903:         )
 0904: 
 0905:     def __eq__(self, other: object) -> bool:
 0906:         if not isinstance(other, Bullet):
 0907:             return NotImplemented
 0908:         return (self.position == other.position and
 0909:                 self.velocity == other.velocity and
 0910:                 self.heading == other.heading and
 0911:                 self.mass == other.mass and
 0912:                 self.tail_delta == other.tail_delta)
 0913: '''
 0914: 
 0915: 
 0916: 
 0917: '''
 0918: class GameState:
 0919:     __slots__ = ('asteroids', 'ships', 'bullets', 'mines', 'map_size', 'time', 'delta_time', 'sim_frame', 'time_limit')
 0920: 
 0921:     def __init__(self, asteroids: list[Asteroid], ships: list[Ship], bullets: list[Bullet], mines: list[Mine], map_size: tuple[float, float] = (0.0, 0.0), time: float = 0.0, delta_time: float = 0.0, sim_frame: int = 0, time_limit: float = 0.0) -> None:
 0922:         self.asteroids = asteroids
 0923:         self.ships = ships
 0924:         self.bullets = bullets
 0925:         self.mines = mines
 0926:         self.map_size = map_size
 0927:         self.time = time
 0928:         self.delta_time = delta_time
 0929:         self.sim_frame = sim_frame
 0930:         self.time_limit = time_limit
 0931: 
 0932:     def __str__(self) -> str:
 0933:         return f'GameState(asteroids={self.asteroids}, ships={self.ships}, bullets={self.bullets}, mines={self.mines}, map_size={self.map_size}, time={self.time}, delta_time={self.delta_time}, sim_frame={self.sim_frame}, time_limit={self.time_limit})'
 0934: 
 0935:     def __repr__(self) -> str:
 0936:         return self.__str__()
 0937: 
 0938:     def copy(self) -> 'GameState':
 0939:         return GameState(
 0940:             asteroids=[asteroid.copy() for asteroid in self.asteroids], 
 0941:             ships=[ship.copy() for ship in self.ships], 
 0942:             bullets=[bullet.copy() for bullet in self.bullets], 
 0943:             mines=[mine.copy() for mine in self.mines], 
 0944:             map_size=self.map_size, 
 0945:             time=self.time, 
 0946:             delta_time=self.delta_time, 
 0947:             sim_frame=self.sim_frame,
 0948:             time_limit=self.time_limit
 0949:         )
 0950:     
 0951:     def __eq__(self, other: object) -> bool:
 0952:         if not isinstance(other, GameState):
 0953:             return NotImplemented
 0954:         
 0955:         # Compare asteroids
 0956:         if len(self.asteroids) != len(other.asteroids):
 0957:             print("Asteroids lists are different lengths!")
 0958:             return False
 0959:         for i, (ast_a, ast_b) in enumerate(zip(self.asteroids, other.asteroids)):
 0960:             if ast_a != ast_b:
 0961:                 print(f"Asteroids don't match at index {i}: {ast_a} vs {ast_b}")
 0962:                 return False
 0963:         
 0964:         # Compare bullets
 0965:         if len(self.bullets) != len(other.bullets):
 0966:             print("Bullet lists are different lengths!")
 0967:             return False
 0968:         for i, (bul_a, bul_b) in enumerate(zip(self.bullets, other.bullets)):
 0969:             if bul_a != bul_b:
 0970:                 print(f"Bullets don't match at index {i}: {bul_a} vs {bul_b}")
 0971:                 return False
 0972:         
 0973:         # Compare mines
 0974:         if len(self.mines) != len(other.mines):
 0975:             print("Mine lists are different lengths!")
 0976:             return False
 0977:         for i, (mine_a, mine_b) in enumerate(zip(self.mines, other.mines)):
 0978:             if mine_a != mine_b:
 0979:                 print(f"Mines don't match at index {i}: {mine_a} vs {mine_b}")
 0980:                 return False
 0981:         
 0982:         # Compare ships
 0983:         #if len(self.ships) != len(other.ships):
 0984:         #    print("Ships lists are different lengths!")
 0985:         #    return False
 0986:         #for i, (ship_a, ship_b) in enumerate(zip(self.ships, other.ships)):
 0987:         #    if ship_a != ship_b:
 0988:         #        print(f"Ships don't match at index {i}: {ship_a} vs {ship_b}")
 0989:         #        return False
 0990:         
 0991:         # Trivial properties like timesteps are not compared, assuming they don't affect game state equality
 0992:         return True
 0993: '''
 0994: 
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  PyObject *ships;
  PyObject *bullets;
  PyObject *mines;
  double map_size_x;
  double map_size_y;
  double time;
  double delta_time;
  int sim_frame;
  double time_limit;
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    __Pyx_XDECREF_SET(__pyx_v_bul_b, __pyx_t_9);
    __pyx_t_9 = 0;
    __Pyx_INCREF(__pyx_t_3);
    __Pyx_XDECREF_SET(__pyx_v_i, __pyx_t_3);
    __pyx_t_7 = __Pyx_PyLong_AddObjC(__pyx_t_3, __pyx_mstate_global->__pyx_int_1, 1, 0, 0); if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 1073, __pyx_L1_error)
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/* … */
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/* … */
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/* … */
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    __Pyx_INCREF(Py_False);
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/* … */
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      __Pyx_INCREF(__pyx_builtin_print);
      __pyx_t_12 = __pyx_builtin_print; 
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      __pyx_t_14 = __Pyx_PyObject_FormatSimple(__pyx_v_mine_a, __pyx_mstate_global->__pyx_empty_unicode); if (unlikely(!__pyx_t_14)) __PYX_ERR(0, 1084, __pyx_L1_error)
      __Pyx_GOTREF(__pyx_t_14);
      __pyx_t_15 = __Pyx_PyObject_FormatSimple(__pyx_v_mine_b, __pyx_mstate_global->__pyx_empty_unicode); if (unlikely(!__pyx_t_15)) __PYX_ERR(0, 1084, __pyx_L1_error)
      __Pyx_GOTREF(__pyx_t_15);
      __pyx_t_16[0] = __pyx_mstate_global->__pyx_kp_u_Mines_don_t_match_at_index;
      __pyx_t_16[1] = __pyx_t_9;
      __pyx_t_16[2] = __pyx_mstate_global->__pyx_kp_u__10;
      __pyx_t_16[3] = __pyx_t_14;
      __pyx_t_16[4] = __pyx_mstate_global->__pyx_kp_u_vs;
      __pyx_t_16[5] = __pyx_t_15;
      __pyx_t_6 = __Pyx_PyUnicode_Join(__pyx_t_16, 6, 27 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_9) + 2 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_14) + 4 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_15), 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_9) | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_14) | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_15));
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      __pyx_t_8 = 1;
      {
        PyObject *__pyx_callargs[2] = {__pyx_t_10, __pyx_t_6};
        __pyx_t_7 = __Pyx_PyObject_FastCall(__pyx_t_12, __pyx_callargs+__pyx_t_8, (2-__pyx_t_8) | (__pyx_t_8*__Pyx_PY_VECTORCALL_ARGUMENTS_OFFSET));
        __Pyx_XDECREF(__pyx_t_10); __pyx_t_10 = 0;
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        __Pyx_DECREF(__pyx_t_12); __pyx_t_12 = 0;
        if (unlikely(!__pyx_t_7)) __PYX_ERR(0, 1084, __pyx_L1_error)
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      __Pyx_DECREF(__pyx_t_7); __pyx_t_7 = 0;
+1085:                 return False
      __Pyx_XDECREF(__pyx_r);
      __Pyx_INCREF(Py_False);
      __pyx_r = Py_False;
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      __Pyx_DECREF(__pyx_t_17); __pyx_t_17 = 0;
      goto __pyx_L0;
 1086: 
 1087:         '''
 1088:         # Compare ships
 1089:         if len(self.ships) != len(other.ships):
 1090:             print("Ships lists are different lengths!")
 1091:             return False
 1092:         for i, (ship_a, ship_b) in enumerate(zip(self.ships, other.ships)):
 1093:             if ship_a != ship_b:
 1094:                 print(f"Ships don't match at index {i}: {ship_a} vs {ship_b}")
 1095:                 return False
 1096:         '''
 1097:         # Trivial properties like timesteps are not compared, assuming they don't affect game state equality
+1098:         return True
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  __Pyx_INCREF(Py_True);
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 1099: 
 1100: '''
 1101: class Target:
 1102:     __slots__ = ('asteroid', 'feasible', 'shooting_angle_error_deg', 'aiming_timesteps_required', 'interception_time_s', 'intercept_x', 'intercept_y', 'asteroid_dist_during_interception', 'imminent_collision_time_s', 'asteroid_will_get_hit_by_my_mine', 'asteroid_will_get_hit_by_their_mine')
 1103: 
 1104:     def __init__(self, asteroid: Asteroid, feasible: bool = False, shooting_angle_error_deg: float = 0.0, aiming_timesteps_required: int = 0, interception_time_s: float = 0.0, intercept_x: float = 0.0, intercept_y: float = 0.0, asteroid_dist_during_interception: float = 0.0, imminent_collision_time_s: float = 0.0, asteroid_will_get_hit_by_my_mine: bool = False, asteroid_will_get_hit_by_their_mine: bool = False) -> None:
 1105:         self.asteroid = asteroid
 1106:         self.feasible = feasible
 1107:         self.shooting_angle_error_deg = shooting_angle_error_deg
 1108:         self.aiming_timesteps_required = aiming_timesteps_required
 1109:         self.interception_time_s = interception_time_s
 1110:         self.intercept_x = intercept_x
 1111:         self.intercept_y = intercept_y
 1112:         self.asteroid_dist_during_interception = asteroid_dist_during_interception
 1113:         self.imminent_collision_time_s = imminent_collision_time_s
 1114:         self.asteroid_will_get_hit_by_my_mine = asteroid_will_get_hit_by_my_mine
 1115:         self.asteroid_will_get_hit_by_their_mine = asteroid_will_get_hit_by_their_mine
 1116: 
 1117:     def __str__(self) -> str:
 1118:         return f'Target(asteroid={self.asteroid}, feasible={self.feasible}, shooting_angle_error_deg={self.shooting_angle_error_deg}, aiming_timesteps_required={self.aiming_timesteps_required}, interception_time_s={self.interception_time_s}, intercept_x={self.intercept_x}, intercept_y={self.intercept_y}, asteroid_dist_during_interception={self.asteroid_dist_during_interception}, imminent_collision_time_s={self.imminent_collision_time_s}, asteroid_will_get_hit_by_my_mine={self.asteroid_will_get_hit_by_my_mine}, asteroid_will_get_hit_by_their_mine={self.asteroid_will_get_hit_by_their_mine})'
 1119: 
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 1122: 
 1123:     def copy(self) -> 'Target':
 1124:         return Target(
 1125:             asteroid=self.asteroid.copy(), 
 1126:             feasible=self.feasible, 
 1127:             shooting_angle_error_deg=self.shooting_angle_error_deg, 
 1128:             aiming_timesteps_required=self.aiming_timesteps_required, 
 1129:             interception_time_s=self.interception_time_s, 
 1130:             intercept_x=self.intercept_x, 
 1131:             intercept_y=self.intercept_y, 
 1132:             asteroid_dist_during_interception=self.asteroid_dist_during_interception, 
 1133:             imminent_collision_time_s=self.imminent_collision_time_s, 
 1134:             asteroid_will_get_hit_by_my_mine=self.asteroid_will_get_hit_by_my_mine,
 1135:             asteroid_will_get_hit_by_their_mine=self.asteroid_will_get_hit_by_their_mine
 1136:         )
 1137: '''
 1138: 
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  double imminent_collision_time_s;
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 1272:         self.ship_state = ship_state
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 1274:         self.asteroids_pending_death = asteroids_pending_death
 1275:         self.forecasted_asteroid_splits = forecasted_asteroid_splits
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 1283:     def copy(self) -> 'SimState':
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 1285:             timestep=self.timestep, 
 1286:             ship_state=self.ship_state.copy(), 
 1287:             game_state=self.game_state.copy() if self.game_state else None, 
 1288:             asteroids_pending_death=self.asteroids_pending_death.copy() if self.asteroids_pending_death else None, 
 1289:             forecasted_asteroid_splits=[a.copy() for a in self.forecasted_asteroid_splits] if self.forecasted_asteroid_splits else []
 1290:         )
 1291: '''
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 1577: 
 1578: 
+1579: def heading_diff_within_threshold(a_vec_theta_rad: float, b_vec_x: float, b_vec_y: float, cos_threshold: float) -> bool:
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 1580:     '''a and b are direction vectors. This checks whether the absolute heading difference between them are within a threshold angle.'''
 1581:     # This function would work the same way as if we took the ship's heading, and found the absolute wrapped difference between that and the direction vector of the asteroid, and then compared against the threshold
 1582:     # But this method is faster as it avoids the atan2 calculation, and instead does a sin and cos and does the threshold comparison with the cos value of the angle, instead of the angle itself
 1583:     # The old method is shown below for reference:
 1584:     # theta = degrees(atan2(b_vec_y, b_vec_x))
 1585:     # threshold_angle = acos(cos_threshold)
 1586:     # return abs(angle_difference_deg(theta, degrees(a_vec_theta_rad))) <= degrees(threshold_angle)
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 2107:     # average_density = asteroid_density()
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 2349: 
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 2619: 
 2620: # It helps a bit to LRU cache this... but we're doing a global asteroids cache already so it's fine
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 2641:     # print(f"x crossing times: {x_crossings_times}")
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/* … */
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 2645:         # Calculate time to first y-boundary crossing based on direction of vy
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 2647:         # print(f"y_crossing_interval: {y_crossing_interval}")
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 2655:     # print(f"y crossing times: {y_crossings_times}")
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/* … */
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 2673:     # Add any remaining times from the x_crossings_times list
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 2679:     # Add any remaining times from the y_crossings_times list
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 2691:     # Iterate through merged crossing times and sequence
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 2729:     # The idea is to track which universes the asteroid visits from t=t_0 until t=t_0 + time_horizon_s.
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 3506: 
 3507: 
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 3510:     # The ts=0 shortcut isn't good because it doesn't wrap the asteroid!
 3511:     #if timesteps == 0:
 3512:         #print("WARNING: Time travelling asteroid by 0 timesteps! If this is rare, it's no cause for concern")
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 3712:                     # The asteroid either exists, or will come into existence before our collision time
 3713:                     # Check the canonical asteroid, and not the unwrapped one!
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 3726:                         # if self.sim_id == 13974:
 3727:                         # print(f"Getting extrapolated next coll time for unwrapped asteroid {ast_to_string(a)}. Initial TS: {self.initial_timestep}, future TS: {self.future_timesteps}, additional timesteps to blow up mines: {additional_timesteps_to_blow_up_mines}, predicted collision additional ts: {predicted_collision_ts}")
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 3771:         # This will return a scalar number representing how good of an action/state sequence we just went through
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 3863:                 # But say we have case A where I do a maneuver and don’t shoot the asteroids.
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 4001:                 # This assertion is false because it doesn't take into account the existence of other mines. If there was a mine about to blow up, and another fresh mine, then the first mine can blow me up before an asteroid or the fresh mine hits me
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 4005:         # if not isinf(next_extrapolated_asteroid_collision_time_before_mines_blew_up):
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+4010:         ship_start_position = states[0].ship_state.position
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 4019:             # Stationary targeting or respawn maneuver
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 4025:             # This assertion won't hold when the ship takes a long time to rotate at the start
 4026:             # assert not (isclose(ship_start_position[0], self_ship_positions[0][0]) and isclose(ship_start_position[1], self_ship_positions[0][1])), f"Ship states: {[s['ship_state'] for s in states]}"
 4027: 
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/* … */
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 4034:             #if mine_safe_time_fitness > 0.8:
 4035:             #    placed_mine_fitness = 1.0
 4036:             #else:
 4037:             #    placed_mine_fitness = 0.5
+4038:             if self.ship_state.lives_remaining >= 3:
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    __pyx_t_10 = PyObject_RichCompare(__pyx_t_9, __pyx_mstate_global->__pyx_int_3, Py_GE); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4038, __pyx_L1_error)
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/* … */
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+4039:                 placed_mine_fitness = 1.0
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 4040:             else:
+4041:                 placed_mine_fitness = mine_safe_time_fitness
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 4042:         else:
+4043:             placed_mine_fitness = 0.0
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 4044: 
 4045:         # debug_print(f"Fitness: {asteroid_safe_time_fitness + mine_safe_time_fitness + asteroids_fitness + sequence_length_fitness + other_ship_proximity_fitness + crash_fitness}, Ast safe time score: {asteroid_safe_time_fitness} (safe time after maneuver is {safe_time_after_maneuver_s} s, and current sim mode is {'stationary' if displacement < EPS else 'maneuver'}), asteroids score: {asteroids_fitness}, sequence length score: {sequence_length_fitness}, other ship prox score: {other_ship_proximity_fitness}")
 4046:         # self.explanation_messages.append(f"Fitness: {asteroid_safe_time_score + mine_safe_time_score + asteroids_score + sequence_length_score + displacement_score}, Ast safe time score: {asteroid_safe_time_score} (safe time after maneuver is {safe_time_after_maneuver_s} s, mine safe time score: {mine_safe_time_score}, and current sim mode is {'stationary' if displacement < EPS else 'maneuver'}), asteroids score: {asteroids_score}, sequence length score: {sequence_length_score}, displacement score: {displacement_score}, other ship prox score: {other_ship_proximity_score}")
 4047:         # debug_print(f"Fitness: {asteroid_safe_time_fitness + mine_safe_time_fitness + asteroids_fitness + sequence_length_fitness + other_ship_proximity_fitness + crash_fitness}, Ast safe time score: {asteroid_safe_time_fitness} (safe time after maneuver is {safe_time_after_maneuver_s} s, mine safe time score: {mine_safe_time_fitness}, and current sim mode is {'stationary' if displacement < EPS else 'maneuver'}), asteroids score: {asteroids_fitness}, sequence length score: {sequence_length_fitness}, other ship prox score: {other_ship_proximity_fitness}, crash_score: {crash_fitness}")
+4048:         if asteroid_safe_time_fitness < 0.1:
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/* … */
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+4049:             self.safety_messages.append(f"I'm dangerously close to being hit by asteroids if I stay here (Imminent collision in {next_extrapolated_asteroid_collision_time:.1f}s). Trying my hardest to maneuver out of this situation.")
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+4050:         elif asteroid_safe_time_fitness < 0.4:
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/* … */
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+4051:             self.safety_messages.append(f"I'm close to being hit by asteroids if I stay here (Imminent collision in {next_extrapolated_asteroid_collision_time:.1f}s).")
    __pyx_t_6 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 4051, __pyx_L1_error)
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+4052:         elif asteroid_safe_time_fitness < 0.8:
  __pyx_t_9 = PyObject_RichCompare(__pyx_v_asteroid_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_8, Py_LT); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 4052, __pyx_L1_error)
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/* … */
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+4053:             self.safety_messages.append(f"I'll eventually get hit by asteroids if I stay here (Imminent collision in {next_extrapolated_asteroid_collision_time:.1f}s). Keeping my eye out for a dodge maneuver.")
    __pyx_t_9 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 4053, __pyx_L1_error)
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    __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_ll_eventually_get_hit_by_aster;
    __pyx_t_20[1] = __pyx_t_6;
    __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s_Keeping_my_eye_out_for_a_dodge;
    __pyx_t_10 = __Pyx_PyUnicode_Join(__pyx_t_20, 3, 75 + __Pyx_PyUnicode_GET_LENGTH(__pyx_t_6) + 44, 127 | __Pyx_PyUnicode_MAX_CHAR_VALUE(__pyx_t_6));
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 4054: 
+4055:         if mine_safe_time_fitness < 0.1:
  __pyx_t_10 = PyObject_RichCompare(__pyx_v_mine_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_1, Py_LT); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4055, __pyx_L1_error)
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/* … */
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+4056:             self.safety_messages.append(f"I'm dangerously close to being kablooied by a mine (Imminent blast in {next_extrapolated_mine_collision_time:.1f}s). Trying my hardest to maneuver out of this situation.")
    __pyx_t_10 = __Pyx_PyObject_GetAttrStr(__pyx_cur_scope->__pyx_v_self, __pyx_mstate_global->__pyx_n_u_safety_messages); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4056, __pyx_L1_error)
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    __pyx_t_9 = __Pyx_PyObject_Format(__pyx_v_next_extrapolated_mine_collision_time, __pyx_mstate_global->__pyx_kp_u_1f); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 4056, __pyx_L1_error)
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    __pyx_t_20[0] = __pyx_mstate_global->__pyx_kp_u_I_m_dangerously_close_to_being_k;
    __pyx_t_20[1] = __pyx_t_9;
    __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s_Trying_my_hardest_to_maneuver;
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+4057:         elif mine_safe_time_fitness < 0.4:
  __pyx_t_6 = PyObject_RichCompare(__pyx_v_mine_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_4, Py_LT); __Pyx_XGOTREF(__pyx_t_6); if (unlikely(!__pyx_t_6)) __PYX_ERR(0, 4057, __pyx_L1_error)
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/* … */
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+4058:             self.safety_messages.append(f"I'm close to being boomed by a mine (Imminent blast in {next_extrapolated_mine_collision_time:.1f}s).")
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    __pyx_t_20[2] = __pyx_mstate_global->__pyx_kp_u_s;
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+4059:         elif mine_safe_time_fitness < 0.9:
  __pyx_t_9 = PyObject_RichCompare(__pyx_v_mine_safe_time_fitness, __pyx_mstate_global->__pyx_float_0_9, Py_LT); __Pyx_XGOTREF(__pyx_t_9); if (unlikely(!__pyx_t_9)) __PYX_ERR(0, 4059, __pyx_L1_error)
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/* … */
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  __pyx_L48:;
+4060:             self.safety_messages.append(f"I'm within the radius of a mine (Imminent blast in {next_extrapolated_mine_collision_time:.1f}s).")
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 4061: 
+4062:         if other_ship_proximity_fitness < 0.2:
  __pyx_t_10 = PyObject_RichCompare(__pyx_v_other_ship_proximity_fitness, __pyx_mstate_global->__pyx_float_0_2, Py_LT); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4062, __pyx_L1_error)
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  if (__pyx_t_2) {
/* … */
    goto __pyx_L49;
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+4063:             self.safety_messages.append("I'm dangerously close to the other ship. Get away from me!")
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    __pyx_t_21 = __Pyx_PyObject_Append(__pyx_t_10, __pyx_mstate_global->__pyx_kp_u_I_m_dangerously_close_to_the_oth); if (unlikely(__pyx_t_21 == ((int)-1))) __PYX_ERR(0, 4063, __pyx_L1_error)
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+4064:         elif other_ship_proximity_fitness < 0.5:
  __pyx_t_10 = PyObject_RichCompare(__pyx_v_other_ship_proximity_fitness, __pyx_mstate_global->__pyx_float_0_5, Py_LT); __Pyx_XGOTREF(__pyx_t_10); if (unlikely(!__pyx_t_10)) __PYX_ERR(0, 4064, __pyx_L1_error)
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/* … */
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  __pyx_L49:;
+4065:             self.safety_messages.append("I'm near the other ship. Being cautious.")
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 4066: 
 4067:         # Use fuzzy "AND" by averaging the fuzzy outputs
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 4136:             '''
 4137:             Uses the bullet sim to check whether we'll hit a target, and which target we end up hitting since we might hit an asteroid in front of our intended target
 4138:             target_asteroid_original: Our target asteroid
 4139:             target_asteroid_shooting_angle_error_deg: The amount in degrees the ship needs to turn to be able to shoot the target
 4140:             target_asteroid_interception_time_s: The time in seconds between firing and hitting the center of the target. The turning time is not included!
 4141:             target_asteroid_turning_timesteps: The number of timesteps we need to turn for before shooting. Well, we might require fewer timesteps than this, but this is the prescribed number of timesteps we must wait out until we shoot, to be able to hit our target.
 4142:             '''
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 4144:             # Just because we're lined up for a shot doesn't mean our shot will hit, unfortunately.
 4145:             # Bullets and asteroids travel in discrete timesteps, and it's possible for the bullet to miss the asteroid hitbox between timesteps, where the interception would have occurred on an intermediate timestep.
 4146:             # This is unavoidable, and we just have to choose targets that don't do this.
 4147:             # If the asteroids are moving slow enough, this should be rare, but especially if small asteroids are moving very quickly, this issue is common.
 4148:             # A simulation will easily show whether this will happen or not
 4149:             # debug_print(f"The last timestep fired is {self.last_timestep_fired}")
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 4284:                         # debug_print(f"Imminent collision time is less than inf! {imminent_collision_time_s}")
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 4290:         # print(target_asteroids_list)
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 4367:                     else:
 4368:                         # debug_print("The imminent shot requires us to turn the ship to the right")
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 4370:                         # print("Found the next target to the right:")
 4371:                         # print(target)
+4372:                         if target is None or target.shooting_angle_error_deg > 0.0 or target.shooting_angle_error_deg > -turn_angle_deg_until_can_fire + TARGETING_AIMING_UNDERTURN_ALLOWANCE_DEG:
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/* … */
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 4373:                             # We're underturning too much, so instead find the next overturn
 4374:                             # debug_print("Underturning too much, so instead find the next overturn to the right")
+4375:                             target = self.find_extreme_shooting_angle_error(sorted_targets, -turn_angle_deg_until_can_fire, 'largest_below')
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 4376:                             # print(target)
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/* … */
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 4378:                         # debug_print('As our target were choosing this one which will be on our way:')
 4379:                         # debug_print(target)
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 4444:             else:
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 4448:                 # Pick a direction to turn the ship anyway, just to better line it up with more shots
+4449:                 if asteroids_still_exist:
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/* … */
        goto __pyx_L74;
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+4450:                     if random.randint(1, 10) == 1:
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/* … */
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/* … */
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+4451:                         self.explanation_messages.append("Asteroids exist but we can't hit them. Moving around a bit randomly.")
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 4452:                         # Setting this to -1 is a signal to set the asteroid fitness really low, so hopefully we'll choose actions that'll move around
+4453:                         self.asteroids_shot -= 1
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+4454:                     turn_direction = 0
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+4455:                     idle_thrust = 0.0
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 4456:                 else:
+4457:                     self.explanation_messages.append("Asteroids no longer exist. We're all done!")
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 4458:                     #self.explanation_messages.append(f"In this scenario, I have simulated {total_sim_timesteps*DELTA_TIME/60:0.0f} minutes of gameplay! Bullet sim took {bullet_sim_time} s and the sim update took {sim_update_total_time} s with the sim culling taking {sim_cull_total_time} s, unwrapping taking {unwrap_total_time} s, and culling asteroids_pending_death is {asteroids_pending_death_total_cull_time} s, {asteroid_tracking_total_time=}, {asteroid_new_track_total_time=}")
 4459:                     #self.explanation_messages.append(f"In this scenario, I have simulated {float(total_sim_timesteps)*DELTA_TIME/60:0.0f} minutes of gameplay!")
 4460:                     #self.explanation_messages.append(f"We simulated {total_bullet_sim_timesteps} bullet sim timesteps and {total_bullet_sim_iterations} iterations, and {total_sim_timesteps} timesteps, and {update_ts_multiple_count=} {update_ts_zero_count=}")
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 4463:                 # We still simulate one iteration of this, because if we had a pending shot from before, this will do the shot!
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+4465:                 assert is_close_to_zero(self.ship_state.speed), f"When returning in target selection where the return value of whether we didn't crash is {sim_complete_without_crash}, the ship speed is not zero! {self.ship_state.speed=}, {self.ship_state.velocity=}"  # REMOVE_FOR_COMPETITION
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+4466:                 return sim_complete_without_crash
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 4467: 
 4468:         # debug_print('Closest ang asteroid:')
 4469:         # debug_print(target_asteroids_list[least_angular_distance_asteroid_index])
 4470:         # debug_print('Second closest ang asteroid:')
 4471:         # debug_print(target_asteroids_list[second_least_angular_distance_asteroid_index])
 4472: 
 4473:         # print(f"Bullet should have been fired on simulated timestep {self.initial_timestep + self.future_timesteps + len(aiming_move_sequence)}")
 4474: 
 4475:         # The following code is confusing, because we're working with different times.
 4476:         # We need to make sure that when we talk about an asteroid, we talk about its position at a specific time. If the time we talk about is not synced up with the position, everything's wrong.
 4477:         # So if an asteroid is on position 1 at time 1, position 2 at time 2, position 3 at time 3, etc, then we must associate the asteroid with a timestep.
 4478:         # A smarter, less buggy way to store asteroids is to include not only their position, but their timestep as well. But too late.
 4479:         # Timestep [self.initial_timestep + self.future_timesteps] is the current timestep, or the timestep the sim was started on. Future timesteps should be 0 so far since we haven't moved.
 4480:         # Timestep [self.initial_timestep + self.future_timesteps + len(aiming_move_sequence)] gives us the timestep after we do our aiming, and when we shoot our bullet
 4481:         # Timestep [self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid] gives us the timestep the asteroid got hit
 4482: 
+4483:         if actual_asteroid_hit is not None:
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/* … */
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+4484:             assert timesteps_until_bullet_hit_asteroid is not None
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+4485:             actual_asteroid_hit_when_firing = time_travel_asteroid(actual_asteroid_hit, len(aiming_move_sequence) - timesteps_until_bullet_hit_asteroid, self.game_state)
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+4486:             if not isinf(self.game_state.time_limit) and self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid > floor(FPS*self.game_state.time_limit):
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 4487:                 # Added one to the timesteps to prevent off by one :P
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 4495:             # We can't seem to hit anything on this timestep. Maybe the asteroids are done being shot, or maybe we can't hit them because of the way things are lined up and the bullets skip over the asteroids, idk.
 4496:             # if ENABLE_ASSERTIONS and actual_asteroid_hit is not None:
 4497:             # TODO: This is testing above theory to see if it holds
 4498:             #    assert check_whether_this_is_a_new_asteroid_we_do_not_have_a_pending_shot_for(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + len(aiming_move_sequence), self.game_state, actual_asteroid_hit_when_firing), f"WTH this asteroid: {actual_asteroid_hit_when_firing}, whole freaking dict: {self.asteroids_pending_death}"
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/* … */
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+4504:                     self.explanation_messages.append("Asteroids exist but we can't hit them. Moving around a bit randomly.")
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 4520:         else:
 4521:             # We're able to hit an asteroid! We're committing to it.
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 4523:             # print(f"Asserting that we don't have a pending shot for asteroid {ast_to_string(actual_asteroid_hit)} on timestep {self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid}")
+4524:             if ENABLE_SANITY_CHECKS:  # REMOVE_FOR_COMPETITION
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/* … */
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 4526:             # print(f"Current timestep: {self.initial_timestep + self.future_timesteps}, and the aiming maneuver is {len(aiming_move_sequence)}")
 4527:             # print(self.asteroids_pending_death)
 4528:             # actual_asteroid_hit_when_firing = time_travel_asteroid(actual_asteroid_hit, len(aiming_move_sequence) - timesteps_until_bullet_hit_asteroid, self.game_state)
 4529:             # print(f"Asserting that we don't have a pending shot for asteroid {ast_to_string(actual_asteroid_hit_when_firing)} on timestep {self.initial_timestep + self.future_timesteps + len(aiming_move_sequence)}")
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/* … */
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 4532:                 # assert check_whether_this_is_a_new_asteroid_we_do_not_have_a_pending_shot_for(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + len(aiming_move_sequence) - 1, self.game_state, actual_asteroid_hit_when_firing)
 4533: 
 4534:             # actual_asteroid_hit_UNEXTRAPOLATED = dict(actual_asteroid_hit)
 4535:             # This back-extrapolates the asteroid to when we're firing our bullet
 4536: 
 4537:             #debug_print(f"We used a sim to forecast the asteroid that we'll hit being the one at pos ({actual_asteroid_hit.position[0]}, {actual_asteroid_hit.position[1]}) with vel ({actual_asteroid_hit.velocity[0]}, {actual_asteroid_hit.velocity[1]}) in {timesteps_until_bullet_hit_asteroid - len(aiming_move_sequence)} timesteps")
 4538:             #debug_print(f"The primitive forecast would have said we'd hit asteroid at pos ({target_asteroid.position[0]}, {target_asteroid.position[1]}) with vel ({target_asteroid.velocity[0]}, {target_asteroid.velocity[1]}) in {calculate_timesteps_until_bullet_hits_asteroid(target_asteroid_interception_time_s, target_asteroid.radius)} timesteps")
 4539:             # print(self.asteroids_pending_death)
 4540:             # print(f"\nTracking that we just shot at the asteroid {ast_to_string(actual_asteroid_hit)}, our intended target was {target_asteroid}")
 4541:             # actual_asteroid_hit_UNEXTRAPOLATED = extrapolate_asteroid_forward(actual_asteroid_hit, -(len(aiming_move_sequence) - timesteps_until_bullet_hit_asteroid), self.game_state, True)
+4542:             actual_asteroid_hit_at_present_time = time_travel_asteroid(actual_asteroid_hit, -timesteps_until_bullet_hit_asteroid, self.game_state)
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 4547:             # print(f"Asserting that we don't have a pending shot for asteroid {ast_to_string(actual_asteroid_hit_at_present_time)} on timestep {self.initial_timestep + self.future_timesteps}")
 4548:             # assert check_whether_this_is_a_new_asteroid_we_do_not_have_a_pending_shot_for(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + 0*len(aiming_move_sequence), self.game_state, actual_asteroid_hit_at_present_time)
 4549:             # print(f'\n\nTracking that we shot at the asteroid {ast_to_string(actual_asteroid_hit_at_present_time)} at the timestep after turning {self.initial_timestep + self.future_timesteps + len(aiming_move_sequence) - 1}')
 4550:             # print(self.asteroids_pending_death)
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 4555:             # debug_print('Were gonna fire the next timestep! Printing out the move sequence:', aiming_move_sequence)
 4556:             # TODO: Currently Neo can't fire on timestep 1! Fix this! Although it's only a minor issue.
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 4558:             # Forecasted splits get progressed while doing the move sequence which includes rotation, so we need to start the forecast before the rotation even starts
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 4560:                 #print("Calling forecast ast bull splits from targ sel")
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 4562:                 # print(f"In targeting, Forecasted asteroid splits on ts {self.initial_timestep + self.future_timesteps} is {self.forecasted_asteroid_splits}")
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 4575:                 # If we died, we're gonna do a respawn maneuver and we won't shoot because that will remove our 3 second respawn invincibility immediately
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 4880:         #    print(f"Calling update in sim {self.sim_id} on future ts {self.future_timesteps} with fire {fire}")
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/* … */
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/* … */
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 4996:                             # We can shoot this timestep! Loop through all asteroids and see which asteroids we can feasibly hit if we shoot at this angle, and take those and simulate with the bullet sim to see which we'll hit
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 5072:                                                 #print(f"Adding feasible target idx {ast_idx}, while the max idx for a real ast is {len(self.game_state.asteroids) - 1}")
+5073:                                                 if interception_time > max_interception_time:
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/* … */
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+5074:                                                     max_interception_time = interception_time
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+5075:                                                 check_next_asteroid = True
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+5076:                                                 break
                      goto __pyx_L85_break;
+5077:                             if feasible_targets_exist:
            if (__pyx_v_feasible_targets_exist) {
/* … */
            }
 5078:                                 #if self.sim_id == 88227:
 5079:                                 #    print(f"Feasible targets exist! {culled_target_idxs_for_simulation=}")
 5080:                                 # Use the bullet sim to confirm that this will hit something
 5081:                                 # There's technically a chance for culled_targets_for_simulation to be empty at this point, if we're purely shooting asteroids that haven't come into existence yet. In that case, this will detect that and will avoid doing the culling, and do the full sim. This should be rare.
 5082:                                 #culled_targets_for_simulation = [asteroid for ast_idx, asteroid in enumerate(self.game_state.asteroids) if ast_idx in culled_target_idxs_for_simulation]
 5083:                                 #print(f"{len(self.game_state.asteroids)=}, {len(culled_target_idxs_for_simulation)=}, ratio={len(self.game_state.asteroids)/len(culled_target_idxs_for_simulation)}")
 5084: 
 5085:                                 '''
 5086:                                 # Convert the list to a set to remove any duplicates
 5087:                                 unique_set = set(culled_target_idxs_for_simulation)
 5088: 
 5089:                                 # Convert the set back to a list
 5090:                                 unique_list = list(unique_set)
 5091: 
 5092:                                 # Sort both lists in ascending order
 5093:                                 unique_list.sort()
 5094: 
 5095:                                 # Verify that both lists are the same and their lengths are the same
 5096:                                 assert culled_target_idxs_for_simulation == unique_list, "Lists are not identical or contain duplicates"
 5097:                                 assert len(culled_target_idxs_for_simulation) == len(unique_list), "List lengths are not equal"
 5098:                                 '''
 5099: 
+5100:                                 culled_targets_for_simulation = [self.game_state.asteroids[ast_idx] for ast_idx in culled_target_idxs_for_simulation]
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 5101:                                 #if not culled_targets_for_simulation:
 5102:                                 #    print("WARNING: culled_targets_for_simulation is empty, so I think this means we're purely shooting at forecasted asteroid splits. Doing the full sim with all the bullets without the culling.")
 5103:                                     #raise Exception()
+5104:                                 bullet_sim_timestep_limit = ceil(max_interception_time*FPS) + 1 # TODO: Might not need +1, but maybe it's safer to have it anyway at the cost of a tiny bit of performance
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+5106:                                 if actual_asteroid_hit is not None and ship_was_safe:
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/* … */
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 5107:                                     # Confirmed that the shot will land
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+5109:                                     actual_asteroid_hit_at_fire_time = time_travel_asteroid(actual_asteroid_hit, -timesteps_until_bullet_hit_asteroid, self.game_state)
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 5111:                                         #if self.sim_id == 13939:
 5112:                                         #    print(f"Checked on ts {self.initial_timestep + self.future_timesteps + 1} that the asteroid {actual_asteroid_hit_at_fire_time} isn't tracked, so we can shoot it!")
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+5114:                                         self.asteroids_shot += 1
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 5117:                                             #print("Calling forecast ast bull splits from maneuver")
+5118:                                             self.forecasted_asteroid_splits.extend(forecast_asteroid_bullet_splits_from_heading(actual_asteroid_hit_at_fire_time, timesteps_until_bullet_hit_asteroid, self.ship_state.heading, self.game_state))
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 5119:                                         # The reason we add one to the timestep we track on, is that once we updated the asteroids' position in the update loop, it's technically the asteroid positions in the game state of the next timestep that gets passed to the controllers!
 5120:                                         # So the asteroid positions at a certain timestep is before their positions get updated. After updating, it's the next timestep.
 5121:                                         #if is_close(-10.0, actual_asteroid_hit_at_fire_time.velocity[0]):
 5122:                                         #    print(f"\nSHOT AT THE ASTEROID IN UPDATE in sim {self.sim_id} on timestep {self.initial_timestep + self.future_timesteps + 1}, {self.initial_timestep=} {self.future_timesteps=} and this shot will take this many ts: {timesteps_until_bullet_hit_asteroid}")
+5123:                                         track_asteroid_we_shot_at(self.asteroids_pending_death, self.initial_timestep + self.future_timesteps + 1, self.game_state, timesteps_until_bullet_hit_asteroid, actual_asteroid_hit_at_fire_time)
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+5124:                                     if fire_this_timestep and not isinf(self.game_state.time_limit) and self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid > floor(FPS*self.game_state.time_limit):
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 5125:                                         # Added one to the timesteps to prevent off by one :P
 5126:                                         #print(f'WITHHOLDING SHOT BECAUSE SCENARIO IS ENDING, self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid + 1 = {self.initial_timestep + self.future_timesteps + timesteps_until_bullet_hit_asteroid + 1}, {self.game_state.time_limit=}, {FPS*self.game_state.time_limit=}')
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+5128:                                         self.asteroids_shot -= 1
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+5129:                             assert self.asteroids_shot >= 0  # REMOVE_FOR_COMPETITION
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/* … */
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/* … */
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/* … */
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/* … */
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/* … */
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/* … */
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/* … */
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 5317:                             # This is the last possible frame to drop a mine and have it do something. Dump the mine!
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 5320:                     # We're prescribing a mine drop since we're replaying actions we've already simulated and we decided to place a mine the first time we simmed this action
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+5323:                 if drop_mine_this_timestep:
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+5336:                         remaining_time=MINE_FUSE_TIME
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 5337:                     )
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 5445:                             #print(f"Ship got hit by mine in sim, RIP and the ship respawn state is {self.ship_state.is_respawning} with the respawn timer at {self.respawn_timer}")
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 5513:             # Checking collisions with the other ship isn't a great idea since this isn't 100% sure. This models the other ship as stationary, which probably won't be true, unless their controller is the null controller.
 5514:             '''
 5515:             # Check ship/ship collisions
 5516:             if not self.ship_state.is_respawning:
 5517:                 if ENABLE_ASSERTIONS:
 5518:                     assert return_value is None
 5519:                 if self.get_instantaneous_ship_collision():
 5520:                     print(f"COLLISION WITH OTHER SHIP!!!")
 5521:                     return_value = False
 5522:                     self.ship_crashed = True
 5523:                     self.ship_state.lives_remaining -= 1
 5524:                     self.ship_state.is_respawning = True
 5525:                     self.ship_state.speed = 0.0
 5526:                     self.ship_state.velocity = (0.0, 0.0)
 5527:                     self.respawn_timer = 3.0
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 5868:         # Update the state to base planning off of, so Neo can get to work on planning the next set of moves while this current set of moves executes
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 5887:             # debug_print(f"best_predicted_sim_fire_next_timestep_flag: {best_predicted_sim_fire_next_timestep_flag}, self.game_state_to_base_planning['fire_next_timestep_flag']: {self.game_state_to_base_planning['fire_next_timestep_flag']}")
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 5889:             # debug_print('DECIDE NEXT ACTION REDO sim ast pending death:')
 5890:             # debug_print(self.game_state_to_base_planning['asteroids_pending_death'])
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 5913:             #debug_print(f"\nIntended move sequence:")
 5914:             #debug_print(best_action_sim_predicted_move_sequence)
 5915:             #debug_print(f"Actual move sequence:")
 5916:             #debug_print(best_action_sim_actual_move_sequence)
 5917:             #print(f"Applying move sequence for maneuver. Seq is {best_action_sim_predicted_move_sequence}")
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 5919:                 #print("Applying respawning move sequence")
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 5922:                 # This can only be maneuvering, and this gives the freedom to aim and shoot during the maneuver
 5923:                 #print(f'\ncalling sim maneuver in decide best with intended move sequence of {best_action_sim_predicted_move_sequence} and actual move sequence of {best_action_sim_predicted.get_move_sequence()}')
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 5926:             #print('crashing sim id:', best_action_sim.get_sim_id())
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 5932:                 # Using the true current state, we see that our best sim's true fitness is lower than what we were expecting.
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 5936:                 #print('Actual base state which is now current:')
 5937:                 #print(game_state)
 5938:                 #print('Actual ship state which is now current:')
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 5940:                 #print('And the NEW sim predicts the ship state to be:')
 5941:                 #print(best_action_sim.get_ship_state())
 5942:                 #print('But the old sim thought the ship state would be:')
 5943:                 #print(best_action_sim_predicted.get_ship_state())
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 5978:                             # This can only be maneuvering, and this gives the freedom to aim and shoot during the maneuver
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 6085:                 # We're gonna die. Force select the one where I stay put and accept my fate, and don't even begin a maneuver.
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 6087:                 #print('IT LOOKS LIKE THIS NEW ACTION WE ARE DOING ENDS IN DEATH!!!')
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 6126:         # end_state = sim_ship.get_state_sequence()[-1]
 6127:         #assert self.stationary_targetting_sim_index is not None
 6128:         #print(f"Maneuver fitness: {best_action_fitness}, stationary fitness: {self.sims_this_planning_period[self.stationary_targetting_sim_index]['fitness']} stationary fitness breakdown: {self.sims_this_planning_period[self.stationary_targetting_sim_index]['fitness_breakdown']}")
 6129:         # print('state seq:', best_action_sim_state_sequence)
 6130:         # debug_print('Best move seq:', best_move_sequence)
 6131:         # debug_print(f"Best sim index: {self.best_fitness_this_planning_period_index}")
 6132:         # debug_print(f"Choosing action: {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['action_type']} with fitness {best_action_fitness} {best_action_fitness_breakdown}")
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 6138:         # Prune out the list of asteroids we shot at if the timestep (key) is in the past
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 6140:         # debug_print(f"Timesteps in asteroids pending death: {[timestep for timestep in asteroids_pending_death.keys()]}")
 6141:         #print(f"Size of asts pending death: {sys.getsizeof()}")
 6142:         #global asteroids_pending_death_total_cull_time
 6143:         #start_time = time.perf_counter()
 6144:         #asteroids_pending_death = {timestep: asteroids for timestep, asteroids in asteroids_pending_death.items() if timestep >= best_action_sim_last_state.timestep}
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+6146:             if timestep in asteroids_pending_death:
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 6148:         #asteroids_pending_death_total_cull_time += time.perf_counter() - start_time
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 6151:         #print(f"Ast pending death keys: {asteroids_pending_death.keys()}")
 6152:         # Made this change, because if we're waiting out mines, that'll mess up the game state. But the state sequence still has the last actual game state, so we'll use that!
 6153:         # next_base_game_state = best_action_sim_last_state['game_state']
 6154:         # print(f'\nNext base game state for timestep {best_action_sim_last_state["timestep"]}:')
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 6158:         # print(f"Firing next ts status is: {new_fire_next_timestep_flag}")
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 6160:             # print(f"Forcing off the fire next timestep, because we just took damage")
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+6162:         if ENABLE_SANITY_CHECKS and new_ship_state.lives_remaining not in self.lives_remaining_that_we_did_respawn_maneuver_for and new_ship_state.is_respawning:  # REMOVE_FOR_COMPETITION
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/* … */
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 6163:             # If our ship is hurt in our next next action and I haven't done a respawn maneuver yet (in this situation, the next next action is a respawn maneuver)  # REMOVE_FOR_COMPETITION
 6164:             # Then I assert that our next action is not a respawning action, AND we're not firing at the start of the next next action  # REMOVE_FOR_COMPETITION
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/* … */
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+6166:                 print(f"We haven't done a respawn maneuver for having {new_ship_state.lives_remaining} lives left")  # REMOVE_FOR_COMPETITION
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 6168:             # assert not (self.game_state_to_base_planning['respawning'] or new_fire_next_timestep_flag)  # REMOVE_FOR_COMPETITION
 6169:         # print(f"{new_ship_state.lives_remaining=}, {str(self.lives_remaining_that_we_did_respawn_maneuver_for)=}, {new_ship_state.is_respawning=}")
 6170:         # debug_print(f"Deciding next action on ts {self.current_timestep}! The new planning ship speed is {new_ship_state.speed} and the move sequence we're executing is REDACTED best_move_sequence, type is {self.sims_this_planning_period[self.best_fitness_this_planning_period_index]['action_type']}")
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/* … */
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 6193:             # print(f"Adding to lives remaining that we did respawn for, in decide next action: {new_ship_state.lives_remaining}")
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 6195:         # debug_print(f"The next base state's respawning state is {self.game_state_to_base_planning['respawning']}")
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 6241:         #print("Calling plan action")
 6242:         # gc.disable()
 6243:         # Simulate and look for a good move
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 6245:         # We simulate both options, and take the one with the higher fitness score
 6246:         # If we stay still, we can potentially keep shooting asteroids that are on collision course with us without having to move
 6247:         # But if we're overwhelmed, it may be a lot better to move to a safer spot
 6248:         # The third scenario is that even if we're safe where we are, we may be able to be on the offensive and seek out asteroids to lay mines, so that can also increase the fitness function of moving, making it better than staying still
 6249:         # Our number one priority is to stay alive. Second priority is to shoot as much as possible. And if we can, lay mines without putting ourselves in danger.
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 6254:             #print("Planning respawn maneuver")
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 6256:             # print(f"Checking for imminent danger. We're currently at position {ship_state.position[0]} {ship_state.position[1]}")
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 6262:             # print(f"Respawn maneuver max length: {ship_random_max_maneuver_length}s")
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 6328:                     # The ship went through all the steps without colliding
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 6330:                     # maneuver_complete_without_crash = True
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 6334:                 #print(f"Move seq: {maneuver_sim.get_move_sequence()}")
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+6382:                 stationary_targetting_sim.target_selection()
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 6383:                 #print('\nstationary targetting sim move seq')
 6384:                 #print(stationary_targetting_sim.get_move_sequence())
 6385: 
+6386:                 best_stationary_targetting_fitness = stationary_targetting_sim.get_fitness()
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+6387:                 if len(self.sims_this_planning_period) == 0:
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/* … */
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/* … */
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 6389:                         # The plan was to first at the first timestep this planning period. However, due to non-determinism caused by the existence of another ship, this shot would actually miss. We checked and caught this, so we're going to just nix the idea of shooting on the first timestep.
+6390:                         assert self.game_state_to_base_planning['fire_next_timestep_flag']  # REMOVE_FOR_COMPETITION
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+6391:                         self.game_state_to_base_planning['fire_next_timestep_flag'] = False
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 6392: 
+6393:                 self.sims_this_planning_period.append({
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+6394:                     'sim': stationary_targetting_sim,
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+6395:                     'fitness': best_stationary_targetting_fitness,
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+6396:                     'fitness_breakdown': stationary_targetting_sim.get_fitness_breakdown(),
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 6397:                     'action_type': 'targetting',
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+6399:                     'maneuver_tuple': None,
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 6400:                 })
+6401:                 self.stationary_targetting_sim_index = len(self.sims_this_planning_period) - 1
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+6402:                 if best_stationary_targetting_fitness > self.best_fitness_this_planning_period:
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/* … */
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+6403:                     self.second_best_fitness_this_planning_period = self.best_fitness_this_planning_period
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+6404:                     self.second_best_fitness_this_planning_period_index = self.best_fitness_this_planning_period_index
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 6405: 
+6406:                     self.best_fitness_this_planning_period = best_stationary_targetting_fitness
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+6407:                     self.best_fitness_this_planning_period_index = self.stationary_targetting_sim_index
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 6408: 
 6409:                 # debug_print(f"Planning targetting, and got fitness {best_stationary_targetting_fitness}")
+6410:             if plan_stationary and not ship_is_stationary:  # REMOVE_FOR_COMPETITION
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/* … */
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+6411:                 print(f"\nWARNING: The ship wasn't stationary after the last maneuver, so we're skipping stationary targeting! Our planning period starts on ts {self.game_state_to_base_planning['timestep']}")  # REMOVE_FOR_COMPETITION
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 6412:             # Try moving! Run a simulation and find a course of action to put me to safety
 6413:             '''
 6414:             if other_ships_exist:
 6415:                 if isinf(self.best_fitness_this_planning_period):
 6416:                     # This is the first timestep we're planning for this period, so we don't really know how many iterations to use. Don't go all out on this first one in case it's an easy one.
 6417:                     search_iterations = 2
 6418:                 elif self.best_fitness_this_planning_period > 0.9:
 6419:                     search_iterations = 1
 6420:                 elif self.best_fitness_this_planning_period > 0.8:
 6421:                     search_iterations = 1
 6422:                 elif self.best_fitness_this_planning_period > 0.7:
 6423:                     search_iterations = 2
 6424:                 elif self.best_fitness_this_planning_period > 0.6:
 6425:                     search_iterations = 3
 6426:                 elif self.best_fitness_this_planning_period > 0.5:
 6427:                     search_iterations = 4
 6428:                 elif self.best_fitness_this_planning_period > 0.4:
 6429:                     search_iterations = 5
 6430:                 else:
 6431:                     search_iterations = 6
 6432:             else:
 6433:                 if isinf(self.best_fitness_this_planning_period) and self.game_state_to_base_planning['ship_state'].bullets_remaining != 0:
 6434:                     raise Exception("If there's no ships, why don't we have any sims this planning period yet? We should have done stationary first.")
 6435:                     # This is the first timestep we're planning for this period, so we don't really know how many iterations to use. Don't go all out on this first one in case it's an easy one.
 6436:                     search_iterations = 2
 6437:                 elif self.best_fitness_this_planning_period > 0.9:
 6438:                     search_iterations = 1
 6439:                 elif self.best_fitness_this_planning_period > 0.8:
 6440:                     search_iterations = 1
 6441:                 elif self.best_fitness_this_planning_period > 0.7:
 6442:                     search_iterations = 2
 6443:                 elif self.best_fitness_this_planning_period > 0.6:
 6444:                     search_iterations = 3
 6445:                 elif self.best_fitness_this_planning_period > 0.5:
 6446:                     search_iterations = 4
 6447:                 elif self.best_fitness_this_planning_period > 0.4:
 6448:                     search_iterations = 5
 6449:                 else:
 6450:                     search_iterations = 6
 6451:             '''
 6452: 
 6453:             '''
 6454:             if iterations_boost:
 6455:                 search_iterations = min(80, (search_iterations + 1)*10)
 6456: 
 6457:             if self.game_state_to_base_planning['ship_state'].lives_remaining == 1:
 6458:                 # When down to our last life, try twice as hard to survive
 6459:                 search_iterations *= 2
 6460:             elif self.game_state_to_base_planning['ship_state'].lives_remaining == 2:
 6461:                 search_iterations = floor(search_iterations*1.5)
 6462:             '''
+6463:             if (len(self.sims_this_planning_period) == 0 or (len(self.sims_this_planning_period) == 1 and self.sims_this_planning_period[0]['action_type'] != 'heuristic_maneuver')) and ship_is_stationary:
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 6486:                 #ship_cruise_speed_mode = NAN
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 6495:             if nearby_asteroid_count > 15:
 6496:                 # Many nearby asteroids
 6497:                 if nearby_asteroid_average_speed > 100:
 6498:                     # Fast asteroids
 6499:                     ship_cruise_speed_mode = SHIP_MAX_SPEED*0.25
 6500:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.15
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 6502:                     # Medium asteroids
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 6504:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.1
 6505:                 else:
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 6508:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.0
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 6510:                 # Some nearby asteroids
 6511:                 if nearby_asteroid_average_speed > 100:
 6512:                     # Fast asteroids
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 6514:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
 6515:                 elif nearby_asteroid_average_speed > 50:
 6516:                     # Medium asteroids
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 6518:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.28
 6519:                 else:
 6520:                     # Slow asteroids
 6521:                     ship_cruise_speed_mode = SHIP_MAX_SPEED*0.5
 6522:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.25
 6523:             else:
 6524:                 # Few nearby asteroids
 6525:                 if nearby_asteroid_average_speed > 100:
 6526:                     # Fast asteroids
 6527:                     ship_cruise_speed_mode = SHIP_MAX_SPEED*0.5
 6528:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
 6529:                 elif nearby_asteroid_average_speed > 50:
 6530:                     # Medium asteroids
 6531:                     ship_cruise_speed_mode = SHIP_MAX_SPEED*0.37
 6532:                     ship_cruise_timesteps_mode = MAX_CRUISE_TIMESTEPS*0.33
 6533:                 else:
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 6537:             '''
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 6570:                     '''
 6571:                     random_ship_heading_angle = random.triangular(-6.0*10.0, 6.0*10.0, 0)
 6572:                     ship_accel_turn_rate = random.triangular(0, SHIP_MAX_TURN_RATE, SHIP_MAX_TURN_RATE)*(2.0*float(random.getrandbits(1)) - 1.0)
 6573:                     #random_ship_cruise_speed = random.uniform(-ship_max_speed, ship_max_speed)
 6574:                     ship_cruise_speed = random.uniform(-SHIP_MAX_SPEED, SHIP_MAX_SPEED)#random.triangular(0, SHIP_MAX_SPEED, SHIP_MAX_SPEED)*(2.0*float(random.getrandbits(1)) - 1.0)
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 6577:                     #ship_cruise_timesteps = random.randint(1, round(max_cruise_seconds*FPS))
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      __pyx_t_20 = 0;
 6598:                 # While evaluating, the simulation is advancing, and if it crashes, then it'll evaluate to false and stop the sim.
 6599:                 #print(preview_move_sequence)
 6600:                 #if maneuver_sim.get_sim_id() == 333:
 6601:                 #    print('\ncalling sim maneuver in plan maneuver')
+6602:                 if maneuver_sim.simulate_maneuver(preview_move_sequence, True, True):
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 6603:                     # The ship went through all the steps without colliding
 6604:                     #pre_fitness = maneuver_sim.get_fitness()
 6605:                     #pre_fitness_breakdown = maneuver_sim.get_fitness_breakdown()
 6606:                     #if maneuver_sim.get_sim_id() == 333:
 6607:                     #    print(f"After sim maneuver in plan maneuver, The ship went through all the steps without colliding and lasted {len(maneuver_sim.get_state_sequence())}")
 6608:                     # maneuver_complete_without_crash = True
 6609:                     pass
 6610:                 else:
 6611:                     # The ship crashed somewhere before reaching the final resting spot
 6612:                     #pre_fitness = maneuver_sim.get_fitness()
 6613:                     #pre_fitness_breakdown = maneuver_sim.get_fitness_breakdown()
 6614:                     #if maneuver_sim.get_sim_id() == 333:
 6615:                     #    print(f"After sim maneuver in plan maneuver, The ship crashed somewhere before reaching the final resting spot and only lasted {len(maneuver_sim.get_state_sequence())}")
 6616:                     # maneuver_complete_without_crash = False
+6617:                     pass
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      }
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 6618:                 # print(f"Maneuver completed without crash: {maneuver_complete_without_crash}")
+6619:                 maneuver_fitness = maneuver_sim.get_fitness()
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 6620:                 #print(f"Maneuver fitness: {maneuver_fitness}, maneuver tuple: {random_ship_heading_angle=} {ship_cruise_speed=} {ship_accel_turn_rate=} {ship_cruise_timesteps=} {ship_cruise_turn_rate=}")
+6621:                 maneuver_fitness_breakdown = maneuver_sim.get_fitness_breakdown()
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 6622:                 #post_fitness = maneuver_sim.get_fitness()
 6623:                 #print(f"{pre_fitness=} {pre_fitness_breakdown=}, {maneuver_fitness=} {maneuver_fitness_breakdown=}, {post_fitness=}")
+6624:                 if len(self.sims_this_planning_period) == 0:
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/* … */
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+6625:                     if maneuver_sim.get_cancel_firing_first_timestep():
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/* … */
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 6626:                         # The plan was to first at the first timestep this planning period. However, due to non-determinism caused by the existence of another ship, this shot would actually miss. We checked and caught this, so we're going to just nix the idea of shooting on the first timestep.
+6627:                         assert self.game_state_to_base_planning['fire_next_timestep_flag']  # REMOVE_FOR_COMPETITION
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+6628:                         self.game_state_to_base_planning['fire_next_timestep_flag'] = False
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 6629:                 '''
 6630:                 global heuristic_fis_iterations
 6631:                 global heuristic_fis_total_fitness
 6632:                 global random_search_iterations
 6633:                 global random_search_total_fitness
 6634:                 if heuristic_maneuver:
 6635:                     heuristic_fis_iterations += 1
 6636:                     heuristic_fis_total_fitness += maneuver_fitness
 6637:                 else:
 6638:                     random_search_iterations += 1
 6639:                     random_search_total_fitness += maneuver_fitness
 6640:                 '''
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+6642:                 self.sims_this_planning_period.append({
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+6643:                     'sim': maneuver_sim,
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+6644:                     'fitness': maneuver_fitness,
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+6648:                     'maneuver_tuple': (random_ship_heading_angle, ship_cruise_speed, ship_accel_turn_rate, ship_cruise_timesteps, ship_cruise_turn_rate)
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 6649:                 })
 6650:                 # if heuristic_maneuver:
 6651:                 #    debug_print(f"Heuristic maneuver got fitness of {maneuver_fitness}")
 6652:                 # debug_print(f"Planning random maneuver, and got fitness {maneuver_fitness}")
+6653:                 if maneuver_fitness > self.best_fitness_this_planning_period:
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/* … */
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+6654:                     self.second_best_fitness_this_planning_period = self.best_fitness_this_planning_period
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+6655:                     self.second_best_fitness_this_planning_period_index = self.best_fitness_this_planning_period_index
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+6657:                     self.best_fitness_this_planning_period = maneuver_fitness
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+6658:                     self.best_fitness_this_planning_period_index = len(self.sims_this_planning_period) - 1
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+6659:                 if heuristic_maneuver:
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/* … */
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 6660:                     # Make sure we don't do any more than one heuristic maneuver!
+6661:                     heuristic_maneuver = False
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 6662: 
+6663:     def actions(self, ship_state_dict: dict[str, Any], game_state_dict: dict[str, Any] | immutabledict[str, Any]) -> tuple[float, float, bool, bool]:
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+6705:         if self.other_ships_exist:
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 6706:             # We cannot use deterministic mode to plan ahead
 6707:             # We can still try to plan ahead, but we need to compare the predicted state with the actual state
 6708:             # Note that if the other ship dies, then we will switch from this case to the case where other ships don't exist
 6709: 
 6710:             # Since other ships exist right now and the game isn't deterministic, we can die at any time even during the middle of a planned maneuver where we SHOULD survive.
 6711:             # Or maybe we planned to die at the end of the maneuver, but we died in the middle instead. That's a sneaky case that's possible too. Handle all of these!
 6712:             # Check for that case:
+6713:             unexpected_death = False
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 6714:             # If we're dead/respawning but we didn't plan a respawn maneuver for it, OR if we do expect to die at the end of the maneuver, however we actually died mid-maneuver
 6715:             #print(f"{ship_state.is_respawning=}, ts: {self.current_timestep}, Action queue length: {len(self.action_queue)}")
 6716:             # Originally I thought it'd be a necessary condition to check (not self.last_timestep_ship_is_respawning and ship_state.is_respawning and ship_state.lives_remaining not in self.lives_remaining_that_we_did_respawn_maneuver_for) however WE DO NOT want to check that the last timestep we weren't respawning!
 6717:             # Because a sneaky edge case is, what if we did a respawn maneuver, and then we began to shoot in the middle of the respawn maneuver RIGHT AS the other ship is inside of us? Then we stay in the respawning state without ever getting out of it, but we just lose a life. Losing a life is the main thing we need to check for! And yes, this is an edge case I experienced and spent an hour tracking down.
+6718:             if (ship_state.is_respawning and ship_state.lives_remaining not in self.lives_remaining_that_we_did_respawn_maneuver_for) or (self.action_queue and not self.last_timestep_ship_is_respawning and ship_state.is_respawning and ship_state.lives_remaining in self.lives_remaining_that_we_did_respawn_maneuver_for):
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/* … */
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+6719:                 print_explanation(f"Ouch, I died in the middle of a maneuver where I expected to survive, due to other ships being present!", self.current_timestep)
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 6720:                 #debug_print(f"I have {ship_state.lives_remaining} lives left, and here's the set of lives left we did respawn maneuvers for: {self.lives_remaining_that_we_did_respawn_maneuver_for}")  # REMOVE_FOR_COMPETITION
 6721:                 # Clear the move queue, since previous moves have been invalidated by us taking damage
+6722:                 self.action_queue.clear()
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+6723:                 self.actioned_timesteps.clear()  # If we don't clear it, we'll have duplicated moves since we have to overwrite our planned moves to get to safety, which means enqueuing moves on timesteps we already enqueued moves for.
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+6724:                 self.fire_next_timestep_flag = False  # If we were planning on shooting this timestep but we unexpectedly got hit, DO NOT SHOOT! Actually even if we didn't reset this variable here, we'd only shoot after the respawn maneuver is done and then we'd miss a shot. And yes that was a bug that I fixed lmao
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 6725:                 # self.game_state_to_base_planning = None
+6726:                 self.sims_this_planning_period.clear()
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+6727:                 self.best_fitness_this_planning_period_index = INT_NEG_INF
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+6728:                 self.best_fitness_this_planning_period = -INFINITY
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+6729:                 self.second_best_fitness_this_planning_period_index = INT_NEG_INF
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+6730:                 self.second_best_fitness_this_planning_period = -INFINITY
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+6731:                 self.base_gamestate_analysis = None
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+6732:                 unexpected_death = True
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+6733:                 iterations_boost = True
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+6734:                 if ship_state.lives_remaining in self.lives_remaining_that_we_did_respawn_maneuver_for:
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/* … */
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 6735:                     # We expected to die at the end of the maneuver, however we actually died mid-maneuver, so we have to revoke the respawn maneuver we had planned, and plan a new one.
 6736:                     # Removing the life remaining number from this set will allow us to plan a new maneuver for this number of lives remaining
 6737:                     #debug_print("GOTCHA, this life remaining shouldn't be in here! Yoink!")  # REMOVE_FOR_COMPETITION
+6738:                     self.lives_remaining_that_we_did_respawn_maneuver_for.remove(ship_state.lives_remaining)
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 6740:             # If we're alive at the end of a maneuver but we're expecting to be dead at the end of the maneuver and we've planned a respawn maneuver
 6741:             #if self.game_state_to_base_planning is not None:
 6742:             #    print(f"Checking for unexpected survival: {ship_state.is_respawning=} {self.game_state_to_base_planning['ship_state'].is_respawning=} {self.game_state_to_base_planning['respawning']=}")
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/* … */
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 6744:                 # We thought this maneuver would end in us dying, with the next move being a respawn maneuver. However this is not the case. We're alive at the end of the maneuver! This must be because the other ship saved us by shooting an asteroid that was going to hit us, or something.
 6745:                 # This assertion isn't true because we could be doing a respawn maneuver, dying, and doing another respawn maneuver!
 6746:                 # assert not self.last_timestep_ship_is_respawning
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 6748:                 # Clear the move queue, since previous moves have been invalidated by us taking damage
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+6750:                 self.actioned_timesteps.clear()  # If we don't clear it, we'll have duplicated moves since we have to overwrite our planned moves to get to safety, which means enqueuing moves on timesteps we already enqueued moves for.
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 6752:                 # self.game_state_to_base_planning = None
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 6761:                 # Yoink this life remaining from the respawn maneuvers, since we no longer are doing one
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/* … */
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 6763:                     # We need to subtract one from the lives remaining, because when we added it, it was from a simulated ship that had one fewer life. In reality we never lost that life, so we subtract one from our actual lives.
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 6765:             # set up the actions planning
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/* … */
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 6767:                 # We need to refresh the state if we died unexpectedly
+6768:                 print_explanation(f"Ouch! Due to the other ship, I unexpectedly died!", self.current_timestep)
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+6769:                 if self.game_state_to_base_planning is None:
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/* … */
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+6770:                     debug_print(f"WARNING: The game state to base planning was none. This better be because I'm recovering from a controller exception!")  # REMOVE_FOR_COMPETITION
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 6840:             else:
 6841:                 # Refresh the base state now that we have the true base state!
 6842:                 # debug_print('REFRESHING BASE STATE FOR STATIONARY ON TS', self.current_timestep)
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 6846:                     # We're not respawning but the ship respawn timer is non-zero, so we're gonna fix this and make it consistent!
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 6849:                 # When there's other ships, stationary targetting is the LAST thing done, just so it can be based off of the reality state
 6850:                 # The base state is exact on the final planning timestep, since the base state is the state we're on right now
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/* … */
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 6882:         else:
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/* … */
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/* … */
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 6887:                     #assert self.current_timestep == 0, "Why is the game state to plan empty when we're not on timestep 0?!"  # REMOVE_FOR_COMPETITION
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/* … */
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/* … */
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 7000: 
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+7002:     print("This is a Kessler controller meant to be imported, and not run directly!")
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